Consensus of Euler-Lagrange Systems Using Only Position Measurements

Using only position measurements, this paper presents a novel control scheme capable of solving the leader-follower and the leaderless consensus problems in networks composed of multiple Euler-Lagrange systems. Velocities are estimated using the Immersion and Invariance (I&I) observer and the control structure is similar to the Proportional plus damping (P + d) scheme. The interconnection topology is modeled via a static and undirected graph with asymmetric variable time-delays. Simulations, using a network with ten agents, support the theoretical contributions of this work.