An H∞-based approach for robust sensor localization - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2015

An H∞-based approach for robust sensor localization

Résumé

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 liein 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 ∞ 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.
Fichier principal
Vignette du fichier
Usman_CT_Loc_v7_accepted.pdf (1.18 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01266215 , version 1 (07-03-2017)

Identifiants

Citer

Usman A. Khan, Anton Korniienko, Karl Henrik Johansson. An H∞-based approach for robust sensor localization. 54th IEEE CDC, Dec 2015, Osaka, Japan. pp.1719-1724, ⟨10.1109/CDC.2015.7402458⟩. ⟨hal-01266215⟩
313 Consultations
151 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More