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学术沙龙:Attitude control of multi-rigid-body systems: from synchronization to intrinsic formation
文:教师发展中心 来源:自动化学院 党委教师工作部、人力资源部(教师发展中心) 时间:2018-07-16 3232

  本次“学术沙龙”活动人力资源部教师发展中心邀请瑞典皇家理工学院数学系教授Xiaoming Hu,就多刚体系统的姿态控制研究与我校师生交流。具体安排如下,欢迎感兴趣的师生参加。

  一、主 题:Attitude control of multi-rigid-body systems: from synchronization to intrinsic formation

  二、主讲人:瑞典皇家工学院数学系 Xiaoming Hu 教授

  三、时 间:2018年7月19日(周四)10:30-11:30

  四、地 点:电子科技大学清水河校区宾诺咖啡

  五、主持人:自动化工程学院 胡江平 教授

  六、内容简介:

  In this talk we will present our study on attitude control of multi-rigid-body systems for which a key assumption is that only relative attitude errors are available for feedback control design. We will first consider systems that are modeled by the so-called unicycles, namely they have one degree of freedom in orientation and two degrees of freedom in translation. Under the assumption that the neighborhood for communication is defined by translational distance, we study the minimal proportion of “leaders” needed such that all the “followers” can be synchronized in orientation. We then move on to discuss the full attitude synchronization problem for which a simple and intuitive linear control design based on the axis-angle representation is presented, which also makes the maximal open (geodesically) convex ball of initial attitudes invariant. Then a natural and interesting question arises: is it possible to achieve a desired formation by imposing some proper inter-agent graph to the system and then making that formation asymptotically stable? In the last part of the talk, we will use the case of reduced attitudes to answer this question affirmatively. We will show that all regular polyhedra on the unit sphere can be achieved this way. 

  七、主讲人简介:

  Xiaoming Hu received the B.S. degree from University of Science and Technology of China in 1983. He received the M.S. and PhD degrees from Arizona State University in 1986 and 1989 respectively, under the guidance of Professor Christopher I. Byrnes. He served as a research assistant at the Institute of Automation, the Chinese Academy of Sciences, from 1983 to 1984. From 1989 to 1990 he was a Gustafsson Postdoctoral Fellow at the Royal Institute of Technology, Stockholm, where he is a full professor of Optimization and Systems Theory in the Department of Mathematics since October 2003. He is also a board member of the Center for Autonomous Systems, and of Linnaeus Center ACCESS.  His main research interests are in complex and networked systems, active sensing and perception, control of multi-agent systems,and mobile manipulation.

  八、主办单位:人力资源部教师发展中心

    承办单位:自动化工程学院


                     人力资源部教师发展中心

                       2018年7月11日


编辑:王晓刚  / 审核:林坤  / 发布:陈伟

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