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)：宝山校区F309会议室
邀请人(Inviter)：王卿文 教授
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.