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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.
CitationNuño, E. [et al.]. Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays. A: IEEE Conference on Decision and Control. "Proc. 51st IEEE Conference on Decision and Control". Maui, Hawaii: 2012, p. 4721-4726.
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