کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
751914 | 895361 | 2012 | 11 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Decentralized H2H2 observers for position and velocity estimation in vehicle formations with fixed topologies Decentralized H2H2 observers for position and velocity estimation in vehicle formations with fixed topologies](/preview/png/751914.png)
This 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 H2H2 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.
Journal: Systems & Control Letters - Volume 61, Issue 3, March 2012, Pages 443–453