Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.12104/40355
Title: Consensus in networks of nonidentical Euler-Lagrange systems with variable time-delays
Author: Nuno, E.
Basanez, L.
Ortega, R.
Issue Date: 2009
Abstract: This chapter aims to take a first step towards the unification of the stability analysis for teleoperators with time-delay. It proposes a general Lyapunov-like function that, upon slight modification, generates different control schemes, ranging from constant to variable time delays, with or without the scattering transformation and with or without position tracking. It also presents examples of the design of the corresponding functional for some control schemes based on PD and on the scattering transformation for variable time-delays. " 2009 Springer-Verlag Berlin Heidelberg.",,,,,,"10.1007/978-3-642-02897-7_31",,,"http://hdl.handle.net/20.500.12104/40355","http://www.scopus.com/inward/record.url?eid=2-s2.0-70349895181&partnerID=40&md5=32741a23b863d065218e01697f9488ea",,,,,,,,"Lecture Notes in Control and Information Sciences",,"371
381",,"388",,"Scopus",,,,,,,,,,,,"Control of teleoperators with time-delay: A lyapunov approach",,"Conference Paper" "42089","123456789/35008",,"Nuno, E., Department of Computer Science, University of Guadalajara (UdG), 44430 Guadalajara, Mexico; Sarras, I., Control Engineering and Systems Analysis Department (SAAS), University Libre de Bruxelles (ULB), Brussels 1050, Belgium; Panteley, E., Laboratoire des Signaux et Systèmes at SUPELEC, Gif-sur-Yvette 91192, France; Basanez, L., Institute of Industrial and Control Engineering (IOC), Technical University of Catalonia (UPC), Barcelona 08028, Spain",,"Nuno, E.
Sarras, I.
Panteley, E.
Basanez, L.",,"2012",,"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. " 2012 IEEE.
URI: http://hdl.handle.net/20.500.12104/40310
http://www.scopus.com/inward/record.url?eid=2-s2.0-84874223917&partnerID=40&md5=7339523e41e34bb62156c26bb483b3a7
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