对偶四元数拉普拉斯矩阵与编队控制

2024.01.18

投稿:龚惠英部门:理学院浏览次数:

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报告题目 (Title):Dual Quaternion Laplacian Matrix and Formation Control(对偶四元数拉普拉斯矩阵与编队控制)

报告人 (Speaker):祁力群 教授(香港理工大学、杭州电子科技大学)

报告时间 (Time):2024年1月22日(周一) 9:30-11:30

报告地点 (Place):校本部F309会议室

邀请人(Inviter):王卿文 教授

主办部门:理学院数学系

报告摘要:The dual quaternion Laplacian matrix of desired relative configurations in multi-agent formation control is similar to the classical unweighted Laplacian matrix via a dual quaternion diagonal unitary matrix. Its eigenvalues are all positive numbers except one zero eigenvalue. A unit dual quaternion vector is a desired formation vector if and only if it is in the null space of this dual quaternion Laplacian matrix. We study a control law based upon dual quaternion Laplacian. We extend our discussion to directed graphs. We also show that pairwise asymptotical stability can be reduced to rank-one asymptotical stability.

This is a joint work with Chunfeng Cui.

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