Title :
Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays
Author :
Nuno, Emmanuel ; Sarras, I. ; Panteley, Elena ; Basanez, Luis
Author_Institution :
Dept. of Comput. Sci., Univ. of Guadalajara (UdG), Guadalajara, Mexico
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.
Keywords :
Lyapunov methods; closed loop systems; damping; delay systems; graph theory; interconnected systems; proportional control; 3-degrees-of-freedom manipulator; EL system; Internet; P+d scheme; SLF; closed-loop system; interconnection network; network consensus; nonidentical Euler-Lagrange system; proportional plus damping scheme; strict Lyapunov function; undirected weighted graph; variable time-delay; Closed loop systems; Convergence; Damping; Delay; Internet; Lyapunov methods; Nickel;
Conference_Titel :
Decision and Control (CDC), 2012 IEEE 51st Annual Conference on
Conference_Location :
Maui, HI
Print_ISBN :
978-1-4673-2065-8
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2012.6426169
