An H-infinity-based approach for robust sensor localization
2015 (English)In: 2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC), Institute of Electrical and Electronics Engineers (IEEE), 2015, 1719-1724 p.Conference paper (Refereed)
In this paper, we consider the problem of sensor localization, i.e., finding the positions of an arbitrary number of sensors located in a Euclidean space, R-m, given at least m + 1 anchors with known locations. Assuming that each sensor knows pairwise distances in its neighborhood and that the sensors lie in the convex hull of the anchors, we provide a DIstributed LOCalization algorithm in Continuous-Time, named DILOC-CT, that converges to the sensor locations. This representation is linear and is further decoupled in the coordinates. By adding a proportional controller in the feed-forward loop of each location estimator, we show that the convergence speed of DILOC-CT can be made arbitrarily fast. Since a large gain may result into unwanted transients especially in the presence of disturbance introduced, e.g., by communication noise in the network, we use H-infinity theory to design local controllers that guarantee certain global performance while maintaining the desired steady-state. Simulations are provided to illustrate the concepts described in this paper.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2015. 1719-1724 p.
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-197858ISI: 000381554501143ISBN: 978-1-4799-7886-1OAI: oai:DiVA.org:kth-197858DiVA: diva2:1059273
54th IEEE Conference on Decision and Control (CDC), DEC 15-18, 2015, Osaka, JAPAN
QC 201612222016-12-222016-12-082016-12-22Bibliographically approved