ABSTRACT:
This talk is concerned with decentralized cooperative control of hierarchical multi-agent dynamical systems, and it is focused on stability and stabilization of a total system based on the dynamics of each agent and information structure among all agents.
The first topic is on the homogeneous case. We first show that a class of linear large-scale control systems with decentralized information structures can be represented by linear systems with generalized frequency variable. We then provide a Nyquist type necessary and sufficient condition on stability, which can be reduced to a linear matrix inequality (LMI) feasibility problem. We also show that the formation stability of cyclic pursuit can be easily analyzed based on the generalized Kalman-Yakubovich-Popov (KYP) lemma and propose a novel way of determining the feedback gain. Simulation examples illustrate its distinctive features and the achievement of a desired pursuit pattern.
The second half of the talk is concerned with hierarchical multi-agent dynamical systems with fractal structure. We first propose a fairly general model for the system and show the significance of low-rank property of the interconnection matrices. We then provide the analytical expression of eigenvalue distribution of the system matrix for cyclic pursuit. Finally, we clarify the relation between the property of interconnection and stability degrees of the system, namely convergence rate and damping ratio, which are confirmed by numerical examples with simulations.
BIO:
Shinji Hara received the B.S., M.S., and Ph.D. degrees in engineering from the Tokyo Institute of Technology, Tokyo, Japan, in 1974, 1976, and 1981, respectively. In 1984 he joined the Tokyo Institute of Technology as an Associate Professor and served as a Full Professor ten years. Since 2002 he has been a Full Professor of the Department of Information Physics and Computing, The University of Tokyo.
He received the George S. Axelby Outstanding Paper Award from the IEEE Control System Society in 2006. He also received Best Paper Awards from SICE (The Society of Instrumentation and Control Engineers, Japan) several times, and from the Japan Society for Simulation Technology and ISCIE (The Institute of Systems, Control and Information Engineers, Japan) in 2001 and 2002, respectively. His current research interests are in robust control, sampled-data control, multi-agent dynamical system, quantum control, and computational aspects of control system design.
Dr. Hara was the General Chair of the CCA04 and associate editor of several international journals, including IEEE Trans. on Automatic Control and Automatica. He is the Vice President of SICE, the Program Co-Chair of the 17th IFAC World Congress in Seoul, and a Fellow of IEEE and SICE.
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