Title Guaranteed estimation and distributed control of vehicle formations
Authors Garcia, R. A., ORIHUELA ESPINA, DIEGO LUIS, MILLÁN GATA, PABLO, Rubio, F. R., Ortega, M. G., MILLÁN GATA, PABLO, ORIHUELA ESPINA, DIEGO LUIS
External publication No
Means Int. J. Control
Scope Article
Nature Científica
JCR Quartile 2
SJR Quartile 1
Area International
Web https://www.scopus.com/inward/record.uri?eid=2-s2.0-85078406744&doi=10.1080%2f00207179.2020.1714074&partnerID=40&md5=3ae06c27eed33dbf9490ea0a75ecb98f
Publication date 01/01/2020
ISI 000508812900001
Scopus Id 2-s2.0-85078406744
DOI 10.1080/00207179.2020.1714074
Abstract This paper presents a distributed set-membership estimation and formation control algorithm for a fleet of vehicles. Each vehicle is equipped with an agent with sensing, acting, computational and communication capacities. The agent's objective is to compute estimation set for the state of all the fleet of vehicles and, additionally, generate control actions to keep its local vehicle in formation. In order to improve the estimation, the agents exchange information with other neighbouring agents. The estimation sets are mathematically characterised by zonotopes. The novelty of the proposed solution lies in the fact that the estimation is guaranteed in spite of the lack of knowledge of the control signal applied by the rest of vehicles. Then, in the presence of bounded disturbances and noises, the position reference for the vehicles can be tracked with a bounded estimation. The proposed solution is tested by simulations.
Keywords Vehicles; Bounded disturbances; Communication capacity; Distributed control; Distributed estimation; Fleet of vehicles; Guaranteed estimation; Set-membership estimation; Zonotopes; Fleet operations
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