An H∞-based approach for robust sensor localization
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 1719-1724 p.Conference paper (Refereed)Text
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.
IdentifiersURN: urn:nbn:se:kth:diva-188265DOI: 10.1109/CDC.2015.7402458ScopusID: 2-s2.0-84962010015ISBN: 9781479978861OAI: oai:DiVA.org:kth-188265DiVA: diva2:937359
54th IEEE Conference on Decision and Control, CDC 2015, 15 December 2015 through 18 December 2015
QC 201606152016-06-152016-06-092016-06-15Bibliographically approved