Show PDF File - robotics - Universidad de Zaragoza
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ˆx a V <br />
<br />
<br />
<br />
<br />
ˆx a Va <br />
Υˆx a Va = η η Υ <br />
ˆx a Va Σˆx a Va η = (A a ⊗ Ip) Σ −1<br />
z z, Υ = (A a ⊗ Ip) Σ −1<br />
z (A a ⊗ Ip) T . <br />
ˆx a Va(t) ∈<br />
R (n−1)p ˆx a Va(0) t <br />
<br />
D, N Υ = [Υij]<br />
ˆx a V a(t + 1) = D−1 N ˆx a V a(t) + D−1 η, <br />
D = blkDiag(Υ22, . . . , Υnn), N = D − Υ. <br />
ˆx a V a(t) ˆxa V a J = D−1 N <br />
ρ(J) = ρ(D −1 N) < 1 <br />
Υ <br />
j /∈ Ni Υij = Υji = 0p×p <br />
Υ η i ∈ V a <br />
i <br />
i ∈ V ˆx a i <br />
ˆx a V a = ((ˆxa 2) T , . . . , (ˆx a n) T ) T <br />
i ∈ V ˆx a i (t) ∈ R p t = 0<br />
ˆx a i (0) = 0p t i ∈ V ˆx a i (t) <br />
ˆx a i (t + 1) = <br />
MiBij ˆx a j (t) + <br />
j∈Ni<br />
e=(j,i)∈E<br />
MiΣ −1<br />
ze ze − <br />
e=(i,j)∈E<br />
MiΣ −1<br />
ze ze, <br />
Mi Bij p×p Mi = 0 i = a Mi = ( <br />
j∈Ni Bij) −1 i = a<br />
<br />
⎧<br />
⎨ Σ<br />
Bij =<br />
⎩<br />
−1<br />
ze + Σ−1 ze ′ if e = (i, j), e ′ Σ<br />
= (j, i) ∈ E<br />
−1<br />
ze<br />
Σ<br />
if e = (i, j) ∈ E, (j, i) /∈ E<br />
−1<br />
ze if e = (j, i) ∈ E, (i, j) /∈ E<br />
.