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PRODID:-//University of Illinois//Web Services Calendar//EN
VERSION:2.0
CALSCALE:GREGORIAN
BEGIN:VEVENT
DTSTAMP:20120214T124310Z
DTSTART;TZID=America/Chicago:20080509T150000
DTEND;TZID=America/Chicago:20080509T150000
SUMMARY:CAESAR and Decision\, Control\, and Optimization Seminar: Shinji 
 Hara: "Stability Analysis and Stabilization for Hierarchical Multi-agent
  Dynamical Systems"
CREATED:20080424T110000Z
DESCRIPTION:ABSTRACT:This talk is concerned with decentralized cooperativ
 e control of hierarchical multi-agent dynamical systems\, and it is focu
 sed on stability and stabilization of a total system based on the dynami
 cs of each agent and information structure among all agents.The first to
 pic is on the homogeneous case. We first show that a class of linear lar
 ge-scale control systems with decentralized information structures can b
 e represented by linear systems with generalized frequency variable. We 
 then provide a Nyquist type necessary and sufficient condition on stabil
 ity\, which can be reduced to a linear matrix inequality (LMI) feasibili
 ty 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. Si
 mulation examples illustrate its distinctive features and the achievemen
 t 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 sign
 ificance of low-rank property of the interconnection matrices. We then p
 rovide the analytical expression of eigenvalue distribution of the syste
 m matrix for cyclic pursuit. Finally\, we clarify the relation between t
 he property of interconnection and stability degrees of the system\, nam
 ely convergence rate and damping ratio\, which are confirmed by numerica
 l examples with simulations.BIO:Shinji Hara received the B.S.\, M.S.\, a
 nd Ph.D. degrees in engineering from the Tokyo Institute of Technology\,
  Tokyo\, Japan\, in 1974\, 1976\, and 1981\, respectively. In 1984 he jo
 ined the Tokyo Institute of Technology as an Associate Professor and ser
 ved as a Full Professor ten years. Since 2002 he has been a Full Profess
 or of the Department of Information Physics and Computing\, The Universi
 ty of Tokyo.He received the George S. Axelby Outstanding Paper Award fro
 m the IEEE Control System Society in 2006. He also received Best Paper A
 wards from SICE (The Society of Instrumentation and Control Engineers\, 
 Japan) several times\, and from the Japan Society for Simulation Technol
 ogy and ISCIE (The Institute of Systems\, Control and Information Engine
 ers\, Japan) in 2001 and 2002\, respectively. His current research inter
 ests are in robust control\, sampled-data control\, multi-agent dynamica
 l 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 C
 o-Chair of the 17th IFAC World Congress in Seoul\, and a Fellow of IEEE 
 and SICE.
LAST-MODIFIED:20080424T110000Z
LOCATION:B02 Coordinated Science Laboratory
CATEGORIES:Seminar
ORGANIZER:japplequ@illinois.edu
URL:http://illinois.edu/calendar/detail/442?key=200001012000010188084
UID:88084@illinois.edu
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