The paper introduces a new vision-based range estimator for leaderfollower formation control, based upon the Immersion and Invariance (I&I) methodology. The proposed reduced-order nonlinear observer is simple to implement, easy to tune and achieves global asymptotical convergence of the observation error to zero. Observability conditions for the leaderfollower system are analytically derived by studying the singularity of the Extended Output Jacobian. The stability of the closed-loop system arising from the combination of the range estimator and an input-state feedback controller is proved by means of Lyapunov arguments. Simulation experiments illustrate the theory and show the effectiveness of the proposed designs.

F., M., G. L., M., Prattichizzo, D. (2010). Observer design via Immersion and Invariance for vision-based leader-follower formation control. AUTOMATICA, 46(1), 148-154 [10.1016/j.automatica.2009.10.016].

Observer design via Immersion and Invariance for vision-based leader-follower formation control

PRATTICHIZZO, DOMENICO
2010-01-01

Abstract

The paper introduces a new vision-based range estimator for leaderfollower formation control, based upon the Immersion and Invariance (I&I) methodology. The proposed reduced-order nonlinear observer is simple to implement, easy to tune and achieves global asymptotical convergence of the observation error to zero. Observability conditions for the leaderfollower system are analytically derived by studying the singularity of the Extended Output Jacobian. The stability of the closed-loop system arising from the combination of the range estimator and an input-state feedback controller is proved by means of Lyapunov arguments. Simulation experiments illustrate the theory and show the effectiveness of the proposed designs.
2010
F., M., G. L., M., Prattichizzo, D. (2010). Observer design via Immersion and Invariance for vision-based leader-follower formation control. AUTOMATICA, 46(1), 148-154 [10.1016/j.automatica.2009.10.016].
File in questo prodotto:
File Dimensione Formato  
Morbidi.AUTOMATICA.2011.Mobile.Pub (1).pdf

non disponibili

Tipologia: Post-print
Licenza: NON PUBBLICO - Accesso privato/ristretto
Dimensione 4.77 MB
Formato Adobe PDF
4.77 MB Adobe PDF   Visualizza/Apri   Richiedi una copia

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/24856
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo