Show PDF File - robotics - Universidad de Zaragoza
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G a ∈ Ni i ∈ Va <br />
J Va i ∈ J Va <br />
<br />
Υij = 0 if Ni ⊆ J , and Υij = <br />
Bij ≻ 0, otherwise. <br />
j∈J<br />
j∈J<br />
j∈Ni\J<br />
G J Va <br />
i ∈ J J a <br />
<br />
j∈J Υij ≻ 0 <br />
u2, . . . , un = 1 Υ ∈ M p<br />
n−1 Υ <br />
Υ + ΥT ∈ M p<br />
n−1 ρ(D−1N) < 1<br />
G Σz1, . . . , Σzm <br />
m p− Σz <br />
i ∈ V <br />
ˆx a i (t) i ∈ V<br />
lim<br />
t→∞ ˆxa i (t) = ˆx a i , <br />
ˆx a i <br />
<br />
ˆx a V Σˆx a <br />
V<br />
a ˆx cen<br />
V Σˆx cen <br />
V<br />
<br />
ˆx cen<br />
V = (I − Hcen) ˆx a V, Σˆx cen<br />
V = (I − Hcen) Σˆx a V (I − Hcen) T , <br />
where Hcen = (1n ⊗ Ip) (1n ⊗ Ip) T /n.<br />
ˆx cen<br />
V<br />
Σˆx cen<br />
V<br />
<br />
<br />
<br />
blkTr <br />
<br />
Σˆx cen<br />
V<br />
Σˆx a V<br />
blkTr Σˆx cen<br />
V<br />
<br />
a ∈ V<br />
<br />
blkTr Σˆx a <br />
, V<br />
<br />
Tr Σˆx cen<br />
<br />
≤ Tr Σˆx V<br />
a <br />
. V <br />
Pij Qij p × p <br />
Σˆx a V = [Pij] Σˆx cen<br />
V = [Qij] i, j ∈ V <br />
<br />
blkTr Σˆx a V<br />
=<br />
n<br />
Pii. <br />
P = [Pij] i, j ∈ {1, . . . , n} <br />
blkTr(P ) = n<br />
i=1 Pii<br />
<br />
i=1