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dc.contributor.authorNuño Ortega, Emmanuel
dc.contributor.authorOrtega, Romeo
dc.contributor.authorBasañez Villaluenga, Luis
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2018-06-27T08:33:46Z
dc.date.available2018-06-27T08:33:46Z
dc.date.issued2017-07-01
dc.identifier.citationNuño, E., Ortega, R., Basañez, L. A Passivity-based controller without velocity measurements for the leaderless consensus of Euler-Lagrange systems. "IFAC-PapersOnLine", 1 Juliol 2017, vol. 50, núm. 1, p. 15452.
dc.identifier.issn2405-8963
dc.identifier.urihttp://hdl.handle.net/2117/118563
dc.description.abstractThis 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
dc.format.extent1 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Automàtica i control
dc.subject.lcshAutomatic control
dc.subject.lcshPassivity-based control
dc.subject.otherConsensus
dc.subject.otherEuler-Lagrange Systems
dc.subject.otherPassivity-based Control
dc.titleA Passivity-based controller without velocity measurements for the leaderless consensus of Euler-Lagrange systems
dc.typeArticle
dc.subject.lemacControl automàtic
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.1016/j.ifacol.2017.08.1880
dc.description.peerreviewedPeer Reviewed
dc.relation.publisherversionhttps://www.sciencedirect.com/science/article/pii/S2405896317325065
dc.rights.accessOpen Access
local.identifier.drac22523970
dc.description.versionPostprint (published version)
local.citation.authorNuño, E.; Ortega, R.; Basañez, L.
local.citation.publicationNameIFAC-PapersOnLine
local.citation.volume50
local.citation.number1
local.citation.startingPage15452
local.citation.endingPage15452


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Attribution-NonCommercial-NoDerivs 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain