A Passivity-based controller without velocity measurements for the leaderless consensus of Euler-Lagrange systems

Abstract

This paper deals with the problem of achieving consensus of multiple interconnected Euler-Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity-based control. It proposes a novel decentralized controller that is capable of solving the leaderless consensus problem in networks of fully-actuated EL-systems with interconnecting time-varying delays and without employing velocity measurements. The paper also presents experimental results that provide evidence of the performance of the novel controller