Change search
ReferencesLink to record
Permanent link

Direct link
An H∞-based approach for robust sensor localization
KTH, School of Electrical Engineering (EES), Automatic Control.
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 1719-1724 p.Conference paper (Refereed)Text
Abstract [en]

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, ?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 DILOCCT, 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∞ 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
IEEE conference proceedings, 2016. 1719-1724 p.
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-188265DOI: 10.1109/CDC.2015.7402458ScopusID: 2-s2.0-84962010015ISBN: 9781479978861OAI: diva2:937359
54th IEEE Conference on Decision and Control, CDC 2015, 15 December 2015 through 18 December 2015

QC 20160615

Available from: 2016-06-15 Created: 2016-06-09 Last updated: 2016-06-15Bibliographically approved

Open Access in DiVA

No full text

Other links

Publisher's full textScopus

Search in DiVA

By author/editor
Johansson, Karl Henrik
By organisation
Automatic Control
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Altmetric score

ReferencesLink to record
Permanent link

Direct link