题目： Finite time stabilization of rigidformations

报告人：孙志勇博士生

报告时间：2014年4月22日下午13:30--14:30

报告地点：2教南228

摘要: Most of the existing results ondistributed distance-based rigid formation control establish asymptotic andoften exponentially asymptotic convergence. To further improve the convergencerate, we explain in this talk how to modify existing controllers to obtainfinite time stability. We first consider the undirected rigid formations. Forpoint agents modeled by single integrators, the controllers proposed in thispaper drive the whole formation to converge to a desired shape with finitesettling time. For agents modeled by double integrators, the proposedcontrollers allow all agents to both achieve the same velocity and reach adesired shape in finite time. The second part of this talk is on finite-timeconvergence control for directed formations. We propose a distance-basedcontrol law for acyclic persistent formations of mobile agents. The proposednormalized gradient law, which can be implemented distributively by using localmeasurements, allows agents to achieve their desired formation shape specifiedby inter-agent distance constraints in finite time.

介绍：
Zhiyong Sun is a Phd candidate at Australian National University. His researchtopics include formation control and multi-agent systems, under the supervisionof Prof. Brian Anderson and Dr. Changbin(Brad) Yu. He is the recipient of theAustralian Prime Minister's Incoming Endeavour Postgraduate Award.