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Title: Consensus in networks of nonidentical euler-lagrange systems using P+d controllers
Author: Nuno, E.
Sarras, I.
Basanez, L.
Issue Date: 2013
Abstract: This paper presents a proportional plus damping controller that can asymptotically drive a network composed ofNnonidenticalEuler-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. � 2013 IEEE.
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