Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays

Author

Nuno, Emmanuel ; Sarras, I. ; Panteley, Elena ; Basanez, Luis

Author_Institution

Dept. of Comput. Sci., Univ. of Guadalajara (UdG), Guadalajara, Mexico

fYear

2012

fDate

10-13 Dec. 2012

Firstpage

4721

Lastpage

4726

Abstract

The present work reports a sufficient condition for the consensus of a network of nonidentical Euler-Lagrange (EL) systems with variable time-delays in the communications. The EL-systems are controlled by simple Proportional plus damping (P+d) schemes and the interconnection network is modeled as an undirected weighted graph. Additionally, for the case without delays, the paper reports a new Strict Lyapunov Function (SLF) for the closed-loop system. Experimental evidence, using three 3-Degrees-of-Freedom manipulators interconnected through the Internet, support the theoretical results of this paper.

Keywords

Lyapunov methods; closed loop systems; damping; delay systems; graph theory; interconnected systems; proportional control; 3-degrees-of-freedom manipulator; EL system; Internet; P+d scheme; SLF; closed-loop system; interconnection network; network consensus; nonidentical Euler-Lagrange system; proportional plus damping scheme; strict Lyapunov function; undirected weighted graph; variable time-delay; Closed loop systems; Convergence; Damping; Delay; Internet; Lyapunov methods; Nickel;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Conference_Location

Maui, HI

ISSN

0743-1546

Print_ISBN

978-1-4673-2065-8

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2012.6426169

Filename

6426169