Conference proceeding
Adaptive docking using range measurements
2012 IEEE 51st IEEE Conference on Decision and Control (CDC), pp.1439-1444
12/2012
DOI: 10.1109/CDC.2012.6426307
Abstract
This paper presents an adaptive scheme for localization of a target from distance measurements and motion control of a mobile agent to pursue this target. First, a robust adaptive law is designed to generate location estimate of the target using distance measurements. Then, following the standard certainty equivalence approach, a motion control law is developed considering substitution of the estimate generated by the localization algorithm for the unknown location of the target. Noting that there is some incompatibility between the persistence of excitation requirements of the localization algorithm and the target pursuit goal of the motion control law, the base motion control law is designed to eliminate the effects of this incompatibility. Stability and convergence analysis for the overall adaptive control scheme is presented. The results are valid in both two and three dimensions of motion space.
Details
- Title: Subtitle
- Adaptive docking using range measurements
- Creators
- Bariş Fidan - University of WaterlooSoura Dasgupta - University of IowaBrian D O Anderson - Australian National University
- Resource Type
- Conference proceeding
- Publication Details
- 2012 IEEE 51st IEEE Conference on Decision and Control (CDC), pp.1439-1444
- DOI
- 10.1109/CDC.2012.6426307
- ISSN
- 0191-2216
- Publisher
- IEEE
- Language
- English
- Date published
- 12/2012
- Academic Unit
- Electrical and Computer Engineering
- Record Identifier
- 9984197174202771
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