Residential Collegefalse
Status已發表Published
Distributed state estimation for linear multi-agent systems with time-varying measurement topology
Daniel Viegas1; Pedro Batista1; Paulo Oliveira1,2; Carlos Silvestre1,3; C. L.Philip Chen4
2015
Source PublicationAutomatica
ISSN00051098
Volume54Pages:72-79
Abstract

This paper addresses the problem of distributed state estimation in formations of vehicles with time-varying measurement topology. One or more vehicles have access to measurements of their own state, while the rest must rely on measurements relative to other vehicles in the vicinity and limited communication to estimate their own state, and it is assumed that the vehicles may gain or lose access to some measurements over time. The proposed solution consists in the implementation of a local state observer on-board each vehicle, and the effects of changes in the measurement topology on the estimation error dynamics are studied resorting to switched systems theory. Sufficient conditions for exponential stability of the global estimation error dynamics are presented for two different switching laws. The results are applied to the practical case of a formation of Autonomous Underwater Vehicles (AUVs), and simulation results are presented that validate the proposed solution.

KeywordAutonomous Systems Decentralization Multi-agent Systems Navigation And Cooperative Navigation Techniques Underwater Vehicles
DOI10.1016/j.automatica.2015.01.036
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000353092100011
Scopus ID2-s2.0-84925436911
Fulltext Access
Citation statistics
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Corresponding AuthorDaniel Viegas
Affiliation1.Inst Super Tecn, Inst Syst & Robot, P-1049001 Lisbon, Portugal
2.Univ Lisbon, Inst Super Tecn, Dept Mech Engn, P-1699 Lisbon, Portugal
3.Univ Macau, Fac Sci & Technol, Dept Elect & Comp Engn, Taipa, Peoples R China
4.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Taipa, Peoples R China
Recommended Citation
GB/T 7714
Daniel Viegas,Pedro Batista,Paulo Oliveira,et al. Distributed state estimation for linear multi-agent systems with time-varying measurement topology[J]. Automatica, 2015, 54, 72-79.
APA Daniel Viegas., Pedro Batista., Paulo Oliveira., Carlos Silvestre., & C. L.Philip Chen (2015). Distributed state estimation for linear multi-agent systems with time-varying measurement topology. Automatica, 54, 72-79.
MLA Daniel Viegas,et al."Distributed state estimation for linear multi-agent systems with time-varying measurement topology".Automatica 54(2015):72-79.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Daniel Viegas]'s Articles
[Pedro Batista]'s Articles
[Paulo Oliveira]'s Articles
Baidu academic
Similar articles in Baidu academic
[Daniel Viegas]'s Articles
[Pedro Batista]'s Articles
[Paulo Oliveira]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Daniel Viegas]'s Articles
[Pedro Batista]'s Articles
[Paulo Oliveira]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.