Circle formation control for mobile sensor networks with bounded position measurement errors

Xiaoshuang Feng, Yi Qu, Yuan Fan, Cheng Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

The circle formation control problem for mobile sensor networks with bounded position measurement errors is addressed in this paper, where the sensors are required to form a prescribed formation on a given circle. Only the upper bounds of the measurement errors are assumed to be known by the sensors a priori. An estimation algorithm is firstly proposed to estimate the position difference between the sensors and its neighbors. Then, a distributed circle formation control law is developed for each sensor by using the estimated position difference. It is shown that the effect of the measurement errors on the formation task can be reduced under the proposed formation control laws. Finally, a numerical example is provided to illustrate the effectiveness of the proposed control laws.
Original languageEnglish (US)
Title of host publicationChinese Control Conference, CCC
PublisherIEEE Computer Society
Pages5032-5037
Number of pages6
ISBN (Print)9789881563804
DOIs
StatePublished - Jul 26 2021
Externally publishedYes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2023-09-21

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