ABSTRACT:
In this seminar, we consider motion coordination in the Special Euclidean group of dimension three (SE(3)) under the situation that rigid-bodies modeled in SE(3) exchange information along strongly connected graphs. We first develop an angular velocity control law for each rigid-body to achieve the flocking on the basis of the fact that the kinematics in SE(3) satisfies a passivity-like property with a positive definite storage function and the results presented by N. Chopra and M. W. Spong. The flocking results if all rigid-bodies' rotation matrices are positive definite and the communication graph is strongly connected. We show that the speed of convergence in the flocking is determined by the second smallest eigenvalue of weighted graph Laplacian. Our results are also extended to the cases when there are delays in communication among rigid-bodies, a leader and communication failures. We moreover extend the flocking results to output synchronization where positions and orientations are chosen as the controlled outputs. The achievement of the output synchronization and hence the convergence of all the rigid-bodies' outputs to the same value is proven by using proposed velocity control law and the passivity-like property. Finally, we demonstrate the effectiveness of the present input through numerical simulations and experiments.
BIO:
Masayuki Fujita received the B.E., M.E., and Dr. of Engineering degrees in Electrical Engineering from Waseda University, Tokyo, in 1982, 1984, and 1987, respectively. From 1985 until 1992, he was with Kanazawa University, Japan. From 1992, he was with the Japan Advanced Institute of Science and Technology. From 1998, he was with Kanazawa University. From April 2005, he has been a Professor of the Tokyo Institute of Technology. From 1994 to 1995, he held a visiting position in the Department of Automatic Control Engineering, Technical University of Munich, Germany. His research interests include robust control with its applications, and vision-based control.
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