BEGIN:VCALENDAR
PRODID:-//University of Illinois//Web Services Calendar//EN
VERSION:2.0
CALSCALE:GREGORIAN
BEGIN:VEVENT
DTSTAMP:20120214T140902Z
DTSTART;TZID=America/Chicago:20071207T150000
DTEND;TZID=America/Chicago:20071207T150000
SUMMARY:CAESAR Seminar and Decision\, Control\, and Optimization Seminar:
  Masayuki Fujita: "Passivity-based Motion Coordination in SE(3)"
CREATED:20071114T140000Z
DESCRIPTION:ABSTRACT:In this seminar\, we consider motion coordination in
  the Special Euclidean group of dimension three (SE(3)) under the situat
 ion that rigid-bodies modeled in SE(3) exchange information along strong
 ly connected graphs. We first develop an angular velocity control law fo
 r 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 posit
 ive definite storage function and the results presented by N. Chopra and
  M. W. Spong. The flocking results if all rigid-bodies' rotation matrice
 s are positive definite and the communication graph is strongly connecte
 d. We show that the speed of convergence in the flocking is determined b
 y the second smallest eigenvalue of weighted graph Laplacian. Our result
 s are also extended to the cases when there are delays in communication 
 among rigid-bodies\, a leader and communication failures. We moreover ex
 tend the flocking results to output synchronization where positions and 
 orientations are chosen as the controlled outputs. The achievement of th
 e output synchronization and hence the convergence of all the rigid-bodi
 es' outputs to the same value is proven by using proposed velocity contr
 ol law and the passivity-like property. Finally\, we demonstrate the eff
 ectiveness of the present input through numerical simulations and experi
 ments.BIO:Masayuki Fujita received the B.E.\, M.E.\, and Dr. of Engineer
 ing degrees in Electrical Engineering from Waseda University\, Tokyo\, i
 n 1982\, 1984\, and 1987\, respectively. From 1985 until 1992\, he was w
 ith Kanazawa University\, Japan. From 1992\, he was with the Japan Advan
 ced Institute of Science and Technology. From 1998\, he was with Kanazaw
 a University. From April 2005\, he has been a Professor of the Tokyo Ins
 titute 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.
LAST-MODIFIED:20071114T140000Z
LOCATION:141 Coordinated Science Laboratory
CATEGORIES:Seminar
ORGANIZER:japplequ@illinois.edu
URL:http://illinois.edu/calendar/detail/442?key=200001012000010176683
UID:76683@illinois.edu
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END:VCALENDAR