Achieving Consensus of Euler–Lagrange Agents With Interconnecting Delays and Without Velocity Measurements via Passivity-Based Control

This paper deals with the problem of achieving consensus of multiple Euler-Lagrange (EL) systems using the energy shaping plus damping injection principles of passivity-based control. It proposes a novel decentralized controller that is capable of solving the leaderless and the leader-follower consensus problems in networks of fully actuated EL-systems with interconnecting time-varying delays and without employing velocity measurements. This paper also presents a comparative simulation study with different controllers and provides experimental evidence of the performance of the novel controller.