Loading web-font TeX/Math/Italic
Distributed Orientation Estimation in SO(-) and Applications to Formation Control and Network Localization | IEEE Journals & Magazine | IEEE Xplore

Distributed Orientation Estimation in SO(d) and Applications to Formation Control and Network Localization


Abstract:

In this paper, we propose a novel distributed orientation estimation strategy, which is based on the measurements of relative orientations of neighbors, in d-dimensional ...Show More

Abstract:

In this paper, we propose a novel distributed orientation estimation strategy, which is based on the measurements of relative orientations of neighbors, in d-dimensional space, where d ≥ 3. Since agents do not share a common reference frame, local reference frames are not aligned with each other. Under the proposed orientation estimation law, a rotation matrix that identifies the orientation of a local frame with respect to a common frame is obtained by auxiliary variables. The proposed estimation strategy is applied to formation control and network localization in 3-D space. Since the orientation of each agent is estimated in a global sense, formation control strategy ensures that the formation globally exponentially converges to the desired formation in 3-D space.
Published in: IEEE Transactions on Control of Network Systems ( Volume: 6, Issue: 4, December 2019)
Page(s): 1302 - 1312
Date of Publication: 20 December 2018

ISSN Information:

Funding Agency:


References

References is not available for this document.