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This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can belong to a class of underactuated EL-systems. The network is modeled as a weighted and undirected static interconnection graph that can exhibit asymmetric variable time delays. Simulations, using a network with ten EL-systems, are reported to support the theoretical contributions of this study.
CitationNuño, E.; Sarras, I.; Basañez, L. Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers. "IEEE transactions on robotics", Desembre 2013, vol. 29, núm. 6, p. 1503-1509.
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