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Communication Dans Un Congrès Année : 2016

Robust sensor localization with locally-computed, global Hinf-design

Résumé

This paper considers sensor localization in R m , i.e. the problem to find the positions of an arbitrary number of sensor nodes in the presence of at least m + 1 anchor nodes, given only the inter-node distances. Assuming that the sensors lie in the convex hull of the anchors, we provide a linear, continuous-time update at each sensor that uses barycentric coordinates and Cayley-Menger determinants. In this paper, we consider design enhancements by adding a dynamic controller in the feed-forward loop of the location estimator at each sensor. We show that the dynamic controller has the ability to both speed-up the convergence and improve the transient behavior, while ensuring a certain disturbance rejection that could be introduced by inter-node communication. The design of the local controllers is based on the input-output approach, H∞ design and does not require the knowledge of global parameters. Simulations illustrates the concepts described in the paper.
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Dates et versions

hal-01484252 , version 1 (07-03-2017)

Identifiants

Citer

Anton Korniienko, Usman A Khan, Gérard Scorletti. Robust sensor localization with locally-computed, global Hinf-design. 2016 IEEE ACC, Jul 2016, Boston, MA, United States. pp.6375 - 6380, ⟨10.1109/ACC.2016.7526672⟩. ⟨hal-01484252⟩

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