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Communication Dans Un Congrès Année : 2023

Robust Leaderless Consensus of Euler-Lagrange Systems with Interconnection Delays

Consensus robuste sans leader des systèmes Euler-Lagrange avec délais d'interconnexion

Résumé

In this work, a distributed control method to achieve the leaderless consensus of heterogeneous Euler-Lagrange (EL) systems with bounded time-varying communication delays while simultaneously rejecting periodic external disturbances is reported. The robust controller has a simple-toimplement structure of proportional-integral-derivative scheme that employs the internal model approach to reject the disturbance. We consider that the network of EL-systems is interconnected through an undirected weighted graph that is static and we assume that the information exchange between any connected nodes is subjected to bounded variable time-delays. The efficacy of the proposed method is shown in a numerical simulation using a network of ten robotic manipulators.
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Dates et versions

hal-04300752 , version 1 (22-11-2023)

Identifiants

Citer

Emmanuel Nuño, Ioannis Sarras, Hao Yin, Bayu Jayawardhana. Robust Leaderless Consensus of Euler-Lagrange Systems with Interconnection Delays. 2023 American Control Conference (ACC), May 2023, San Diego, United States. pp.1547-1552, ⟨10.23919/ACC55779.2023.10156387⟩. ⟨hal-04300752⟩
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