Decentralized H2 observers for position and velocity estimation in vehicle formations with fixed topologies

UM > Faculty of Science and Technology > DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING

Status	已發表Published
	Decentralized H2 observers for position and velocity estimation in vehicle formations with fixed topologies
	Viegas, D; Batista, P; Oliveira, P; Silvestre, C
	2012-03-01
Source Publication	Systems and Control Letters
ISSN	0167-6911
Pages	443-453
Abstract	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 H2 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.
Keyword	Cooperative navigation Decentralized estimation Autonomous vehicles
Language	英語English
The Source to Article	PB_Publication
PUB ID	11453
Document Type	Journal article
Collection	DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Recommended Citation GB/T 7714	Viegas, D,Batista, P,Oliveira, P,et al. Decentralized H2 observers for position and velocity estimation in vehicle formations with fixed topologies[J]. Systems and Control Letters, 2012, 443-453.
APA	Viegas, D., Batista, P., Oliveira, P., & Silvestre, C (2012). Decentralized H2 observers for position and velocity estimation in vehicle formations with fixed topologies. Systems and Control Letters, 443-453.
MLA	Viegas, D,et al."Decentralized H2 observers for position and velocity estimation in vehicle formations with fixed topologies".Systems and Control Letters (2012):443-453.

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