NDLI: Observability optimization for the nonholonomic integrator

Content Provider	IEEE Xplore Digital Library
Author	Hinson, B.T. Morgansen, K.A.
Copyright Year	2013
Description	Author affiliation: Dept. of Aeronaut. & Astronaut., Univ. of Washington, Seattle, WA, USA (Hinson, B.T.; Morgansen, K.A.)
Abstract	A growing number of control problems are concerned with vehicles that have insufficient sensors to directly measure all system states and require active control actuation to observe all necessary states (e.g. underwater navigation, simultaneous localization and mapping, parameter identification). In this paper, we consider first-order nonholonomic systems in canonical form as a model system for exploring the development of active control that optimizes system observability characteristics. Observability analysis of this system shows that all nonholonomic states must be measured in the output, and actuation in a minimum of two control channels is required for observability. Analytical trajectories are derived that allow almost arbitrary placement of the observability gramian eigenvalues, which are shown to be inversely related to state estimation covariances. Simulation results show that the optimal trajectories provide four to five times faster estimator convergence and three times lower state estimate covariances than suboptimal trajectories.
Starting Page	4257
Ending Page	4262
File Size	551790
Page Count	6
File Format	PDF
ISBN	9781479901777
ISSN	07431619
e-ISBN	9781479901784
DOI	10.1109/ACC.2013.6580494
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-06-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Observability Trajectory Vectors Eigenvalues and eigenfunctions Sensors Optimization
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Path planning to optimize observability in a planar uniform flow field

Minimal state measurements for regional pole placement

Observability optimization for the nonholonomic integrator.

Further results on the observability in magneto-inertial navigation

Shape optimization of piezoelectric sensors dealing with spill-over instability

Optimal shape and location of sensors or actuators in PDE models

Kronecker products of defective matrices: Some spectral properties and their implications on observability

On the formation patterns in cyclic pursuit of double-integrator agents

A global attractor consisting of exponentially unstable equilibria

Observability optimization for the nonholonomic integrator

Similar Documents

Path planning to optimize observability in a planar uniform flow field

Minimal state measurements for regional pole placement

Observability optimization for the nonholonomic integrator.

Further results on the observability in magneto-inertial navigation

Shape optimization of piezoelectric sensors dealing with spill-over instability

Optimal shape and location of sensors or actuators in PDE models

Kronecker products of defective matrices: Some spectral properties and their implications on observability

On the formation patterns in cyclic pursuit of double-integrator agents

A global attractor consisting of exponentially unstable equilibria

Observability optimization for the nonholonomic integrator