イブキ　タツヤ   IBUKI TATSUYA   伊吹　竜也    所属   明治大学  理工学部    職種   専任准教授
言語種別	日本語
発行・発表の年月	2014/04
形態種別	学術雑誌
査読	査読あり
標題	3次元位置・姿勢協調制御 -有向グラフ構造における必要十分条件の導出-
執筆形態	共著(筆頭者)
掲載誌名	計測自動制御学会論文集
掲載区分	国内
出版社・発行元	計測自動制御学会
巻・号・頁	50(4),374-382頁
総ページ数	9
担当区分	筆頭著者,責任著者
著者・共著者	伊吹竜也，畑中健志，藤田政之
概要	This paper studies pose synchronization on the Special Euclidean group SE(3) for a network of rigid bodies. In particular, we extend our earlier results on the topic to expand a class of interaction graphs for which synchronization is proved. We first give the definitions of rigid body networks and pose synchronization as the controlled system and goal of this work, respectively. We next introduce our previous results as the preliminaries. Then, by introducing a condensation graph and stability theory of perturbed systems, we derive a necessary and sufficient condition in terms of interconnection topologies for pose synchronization on SE(3). We finally demonstrate the effectiveness of the present analysis through simulation.