»ã±¨±êÌâ (Title)£ºDual Quaternion Laplacian Matrix and Formation Control£¨¶ÔżËÄÔªÊýÀ­ÆÕÀ­Ë¹¾ØÕóÓë±à¶Ó½ÚÔ죩

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»ã±¨¹¦·ò (Time)£º2024Äê1ÔÂ22ÈÕ(ÖÜÒ») 9:30-11:30

»ã±¨µØÖ· (Place)£ºÐ£±¾²¿F309»áÒéÊÒ

Ô¼ÇëÈË(Inviter)£ºÍõÇäÎÄ ½ÌÊÚ

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»ã±¨ÌáÒª£ºThe 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.