Adaptive docking using range measurements

Baris Fidan; Soura Dasgupta; Brian D.O. Anderson

doi:10.1109/CDC.2012.6426307

Adaptive docking using range measurements

Baris Fidan^*, Soura Dasgupta, Brian D.O. Anderson

^*Corresponding author for this work

Research output: Contribution to journal › Conference article › peer-review

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.

Original language	English
Article number	6426307
Pages (from-to)	1439-1444
Number of pages	6
Journal	Proceedings of the IEEE Conference on Decision and Control
DOIs	https://doi.org/10.1109/CDC.2012.6426307
Publication status	Published - 2012
Event	51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States Duration: 10 Dec 2012 → 13 Dec 2012

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10.1109/CDC.2012.6426307

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title = "Adaptive docking using range measurements",

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.",

author = "Baris Fidan and Soura Dasgupta and Anderson, {Brian D.O.}",

year = "2012",

doi = "10.1109/CDC.2012.6426307",

language = "English",

pages = "1439--1444",

journal = "Proceedings of the IEEE Conference on Decision and Control",

issn = "0743-1546",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "51st IEEE Conference on Decision and Control, CDC 2012 ; Conference date: 10-12-2012 Through 13-12-2012",

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T1 - Adaptive docking using range measurements

AU - Fidan, Baris

AU - Dasgupta, Soura

AU - Anderson, Brian D.O.

PY - 2012

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N2 - 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.

AB - 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.

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U2 - 10.1109/CDC.2012.6426307

DO - 10.1109/CDC.2012.6426307

M3 - Conference article

AN - SCOPUS:84874259385

SN - 0743-1546

SP - 1439

EP - 1444

JO - Proceedings of the IEEE Conference on Decision and Control

JF - Proceedings of the IEEE Conference on Decision and Control

M1 - 6426307

T2 - 51st IEEE Conference on Decision and Control, CDC 2012

Y2 - 10 December 2012 through 13 December 2012

ER -

Adaptive docking using range measurements

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