The paper introduces a new vision-based range estimator based upon the Immersion and Invariance (I&I) methodology, for leader-follower formation control. The proposed reduced-order nonlinear observer achieves global exponential convergence of the observation error to zero and it is extremely simple to implement and to tune. A Lyapunov analysis is provided to show the stability of the closed-loop system arising from the combination of the range estimator and an input-state feedback controller. Simulation experiments illustrate the theory and show the effectiveness of the proposed design.
Morbidi, F., Mariottini, G.L., Prattichizzo, D. (2008). Vision-based range estimation via Immersion and Invariance for robot formation control. In Proc. IEEE International Conference on Robotics and Automation, ICRA 2008 (pp.504-509). IEEE [10.1109/ROBOT.2008.4543257].
Vision-based range estimation via Immersion and Invariance for robot formation control
Prattichizzo D.
2008-01-01
Abstract
The paper introduces a new vision-based range estimator based upon the Immersion and Invariance (I&I) methodology, for leader-follower formation control. The proposed reduced-order nonlinear observer achieves global exponential convergence of the observation error to zero and it is extremely simple to implement and to tune. A Lyapunov analysis is provided to show the stability of the closed-loop system arising from the combination of the range estimator and an input-state feedback controller. Simulation experiments illustrate the theory and show the effectiveness of the proposed design.
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https://hdl.handle.net/11365/28376
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