Consensus of multiple Euler-Lagrange systems using one Euler-Lagrange System’s velocity measurements

Publication Type:
Journal Article
International Journal of Control, Automation and Systems, 2017, 15 (1), pp. 450 - 456
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10.1007_s12555-014-0320-0.pdfPublished Version581.94 kB
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© 2016, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg. This brief paper studies the stationary consensus of multiple Euler-Lagrange systems with nonlinear protocols. Two consensus protocols are given to guarantee that positions and velocities of multiple Euler-Lagrange systems reach consensus. Proposed protocols need only the relative position measurements and the velocity measurements of one Euler-Lagrange system. Finally, numerical simulations are given to illustrate the theoretical results.
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