In this paper we investigate visual feedback attitude synchronization in leader-follower type visibility structures on the Special Euclidean group SE(3). We first define visual robotic networks consisting of the dynamics describing rigid body motion, visibility structures among bodies and visual measurements. We then propose a visual feedback attitude synchronization law combining a vision-based observer with the attitude synchronization law presented in our previous works. We then prove that when the leader does not rotate, the visual robotic network with the control law achieves visual feedback attitude synchronization. Moreover, for a rotating leader, we evaluate the tracking performance of the other bodies. In analysis, we employ the notion of input-to-state stability and L2-gain performance regarding the leader’s angular velocity as an external disturbance. Finally, the validity of the proposed control law and the analysis is demonstrated through simulations.
In this paper we consider potential game theoretic attitude coordination. We especially focus on two ordered configurations: “synchronization” and “balanced circular formation”. We first show that both problems constitute potential games by employing some global and individual objective functions, and a learning algorithm called Restrictive Spatial Adaptive Play (RSAP) leads robots to the ordered configurations with high probability even in the presence of mobility constraints. We moreover show that the problem also constitutes a group-based potential game and convergence of distribution of actions to stationary one can be accelerated. Finally, the effectiveness of the schemes is demonstrated by simulation.
This paper proposes a direct design method of state-space controllers for H∞ control of linear time-invariant descriptor systems. We derive a necessary and sufficient condition for the existence of a state-space controller which makes the closed-loop descriptor system regular, impulse-free, stable, and its H∞ norm less than a specified value. The condition is expressed in terms of linear matrix inequalities and their solutions give coefficient matrices of the state-space H∞ controllers.