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Decentralized H 2 observers for position and velocity estimation in vehicle formations with fixed topologies
Viegas D.2; Batista P.2; Oliveira P.2; Silvestre C.2
2012-03-01
Source PublicationSystems and Control Letters
ISSN01676911
Volume61Issue:3Pages:443-453
AbstractThis paper addresses the problem of decentralized state estimation in fixed topology formations of vehicles with applications to Autonomous Underwater Vehicles (AUVs). In the envisioned scenario, each vehicle in the formation estimates its own state relying only on locally available measurements and data communicated by neighboring agents, requiring lower computational and communication loads than centralized solutions. A method for designing local state observers featuring global error dynamics that converge globally asymptotically to zero is detailed, and an algorithm for improving its performance under stochastic disturbances and Gaussian uncertainties is presented. The proposed algorithm minimizes the norm of the global estimation error dynamics, expressed as an optimization problem subject to Bilinear Matrix Inequality (BMI) constraints. To assess the performance of the solution, realistic simulation results are presented and discussed for several formation topologies. © 2011 Elsevier B.V. All rights reserved.
KeywordAutonomous vehicles Cooperative navigation Decentralized estimation
DOI10.1016/j.sysconle.2011.12.004
URLView the original
Language英語
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Cited Times [WOS]:16   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Universidade de Macau
2.Instituto de Sistemas e Robótica
Recommended Citation
GB/T 7714
Viegas D.,Batista P.,Oliveira P.,et al. Decentralized H 2 observers for position and velocity estimation in vehicle formations with fixed topologies[J]. Systems and Control Letters,2012,61(3):443-453.
APA Viegas D.,Batista P.,Oliveira P.,&Silvestre C..(2012).Decentralized H 2 observers for position and velocity estimation in vehicle formations with fixed topologies.Systems and Control Letters,61(3),443-453.
MLA Viegas D.,et al."Decentralized H 2 observers for position and velocity estimation in vehicle formations with fixed topologies".Systems and Control Letters 61.3(2012):443-453.
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