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Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays
dc.contributor.author | Nuño Ortega, Emmanuel |
dc.contributor.author | Sarras, Ioannis |
dc.contributor.author | Panteley, Elena |
dc.contributor.author | Basañez Villaluenga, Luis |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2013-03-07T10:40:21Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Nuño, 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. |
dc.identifier.isbn | 978-1-4673-2065-8 |
dc.identifier.uri | http://hdl.handle.net/2117/18116 |
dc.description.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. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject.lcsh | Control theory |
dc.title | Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays |
dc.type | Conference lecture |
dc.subject.lemac | Control, Teoria de |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 11640957 |
dc.description.version | Postprint (published version) |
dc.date.lift | 10000-01-01 |
local.citation.author | Nuño, E.; Sarras, I.; Panteley, E.; Basañez, L. |
local.citation.contributor | IEEE Conference on Decision and Control |
local.citation.pubplace | Maui, Hawaii |
local.citation.publicationName | Proc. 51st IEEE Conference on Decision and Control |
local.citation.startingPage | 4721 |
local.citation.endingPage | 4726 |