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	2023/12
形態種別	学術雑誌
査読	査読あり
標題	Passivity Shortageに基づく離散時間3次元位置姿勢同期制御
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	59(12),505-516頁
総ページ数	12
担当区分	筆頭著者,責任著者
著者・共著者	伊吹竜也，山内淳矢，畑中健志
概要	This paper investigates discrete-time pose (position and attitude) synchronization for a group of networked rigid bodies in three dimensions. The rigid body network consisting of multiple bodies with discrete-time pose dynamics, relative pose measurements, and directed interconnection topology between the bodies is defined. Then, attitude synchronization is first investigated for the rigid body network. As the main feature of this work, it is shown that attitude dynamics of each rigid body have a passivity shortage-like property, and a distributed attitude synchronization law based on the property is proposed. Pose synchronization is next investigated with Euler approximations for position dynamics. Here, a passivity shortage-like property is also derived for approximated pose dynamics, and passivity shortage-based distributed pose synchronization laws are presented. The proposed techniques are verified via convergence analysis and simulations.