Coordination of multi-agent Euler-Lagrange systems via energy-shaping: networking improves robustness

DOI10.1016/J.AUTOMATICA.2013.07.002MaRDI QIDQ2350758zbMATH OpenOpenAlexFDO

Authors Emmanuel Nuño, Bayu Jayawardhana, Luis Basañez, Romeo Ortega

Publication date 25 June 2015

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2013.07.002

zbMATH Keywords

Euler-Lagrange systemspassivity-based controlPD-controllerssynchronization

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Decentralized systems (93A14) Sensitivity (robustness) (93B35)

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Cited in

(15)

• Operational space consensus of multiple heterogeneous robots without velocity measurements
• Consensus in networks of uncertain Euler-Lagrange agents using adaptive gravity compensation
• Constrained distributed cooperative synchronization and reconfigurable control of heterogeneous networked Euler-Lagrange multi-agent systems
• Adaptive hierarchical formation control for uncertain Euler-Lagrange systems using distributed inverse dynamics
• Finite-time fault-tolerant coordination control for multiple Euler-Lagrange systems in obstacle environments
• Coordination control of multiple Euler-Lagrange systems for escorting mission
• Position tracking in delayed bilateral teleoperators without velocity measurements
• Pose consensus in networks of heterogeneous robots with variable time delays
• Networking improves robustness in flexible-joint multi-robot systems with only joint position measurements
• Task space consensus in networks of heterogeneous and uncertain robotic systems with variable time-delays
• Finite‐time consensus of Euler‐Lagrange agents without velocity measurements via energy shaping
• Robust containment control in a leader-follower network of uncertain Euler-Lagrange systems
• Task-space fully distributed tracking control of networked uncertain robotic manipulators without velocity measurements
• Neuro-adaptive non-singular terminal sliding mode control for distributed fixed-time synchronization of higher-order uncertain multi-agent nonlinear systems
• Energy shaping-based consensus control in networked underactuated Euler-Lagrange systems with communication and input delays

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