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Transactions of the Institute of Systems, Control and Information Engineers Vol. 24 (2011), No. 7

ISIJ International
belloff
ONLINE ISSN: 2185-811X
PRINT ISSN: 1342-5668
Publisher: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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  1. Vol. 37 (2024)

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  29. Vol. 9 (1996)

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  30. Vol. 8 (1995)

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  31. Vol. 7 (1994)

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  32. Vol. 6 (1993)

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  33. Vol. 5 (1992)

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  34. Vol. 4 (1991)

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  35. Vol. 3 (1990)

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  36. Vol. 2 (1989)

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  37. Vol. 1 (1988)

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Transactions of the Institute of Systems, Control and Information Engineers Vol. 24 (2011), No. 7

Visual Feedback Leader-following Attitude Synchronization

Tatsuya Ibuki, Takeshi Hatanaka, Masayuki Fujita

pp. 155-164

DOI:

10.5687/iscie.24.155

Abstract

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.

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Visual Feedback Leader-following Attitude Synchronization

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Ris

Potential Game Theoretic Attitude Coordination

Takeshi Hatanaka, Tatsuhiko Goto, Masayuki Fujita

pp. 165-172

DOI:

10.5687/iscie.24.165

Abstract

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.

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Potential Game Theoretic Attitude Coordination

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Direct Derivation of State-Space Controllers for H∞ Control of Descriptor Systems

Masaki Inoue, Teruyo Wada, Masao Ikeda, Eiho Uezato

pp. 173-180

DOI:

10.5687/iscie.24.173

Abstract

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.

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Direct Derivation of State-Space Controllers for H∞ Control of Descriptor Systems

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A Proposal on Arctangent-type Tunneling Algorithm which Includes Cooling Operation of Iteration Parameter

Masaaki Tanabe, Hitoshi Yamauchi, Takao Ono, Akihiro Kanagawa

pp. 181-183

DOI:

10.5687/iscie.24.181
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A Proposal on Arctangent-type Tunneling Algorithm which Includes Cooling Operation of Iteration Parameter

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