报告名称: Formation scaling control using stress matrix
报告概况：This talk discusses a formation scaling control problem for multi-agent systems. We propose a novel scaling control law while the formation scale information is available to a limited number of agents, in that only one pair of agents share the scaling information. We design a new class of distributed control laws by employing stress matrix and orthogonal projections such that the agents are steered to prescribed relative positions with respect to their neighbors. We show that if the corresponding stress matrix admits a generic universally rigid framework, the equilibrium of the closed-loop system is constrained only to the translation and a fixed-size scaling of the given configuration among all the possible affine transformations.
孙志勇博士概况：Zhiyong Sun received the Ph.D. degree from The Australian National University (ANU). His research interests include graph rigidity theory, control of autonomous formations, cooperative control and multi-agent systems. He received the Australian Prime Minister’s Endeavor Postgraduate Award in 2013 from the Australian Government, the Outstanding Oversea Student Award from the Chinese Government in 2016, and the Springer Thesis Prize in 2017. He was a finalist/winner of Best Student Paper (BSP) Award in several conferences, including a BSP finalist award in the 54th IEEE Conference on Decision and Control (CDC 2015) at Osaka, Japan.