A continuous time linear adaptive source localization algorithm, robust to persistent drift

The problem of source localization has assumed increased importance in recent years. In this paper, we formulate a continuous time adaptive localization algorithm, that permits a mobile agent to estimate the location of a stationary source, using only the measured distance from the source. The algor...

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Bibliographic Details
Published in:Systems & control letters 2009, Vol.58 (1), p.7-16
Main Authors: Dandach, Sandra H., Fidan, Barış, Dasgupta, Soura, Anderson, Brian D.O.
Format: Article
Language:English
Subjects:
Adaptive
Applied sciences
Computer science
control theory
systems
Continuous time
Control system analysis
Control theory. Systems
Estimation
Exact sciences and technology
Persistent excitation
Source localization
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Summary:The problem of source localization has assumed increased importance in recent years. In this paper, we formulate a continuous time adaptive localization algorithm, that permits a mobile agent to estimate the location of a stationary source, using only the measured distance from the source. The algorithm is shown to be exponentially asymptotically stable, under a persistent excitation condition that has an appealing interpretation. We quantify the fact that exponential asymptotic stability endows the algorithm with the ability to track slow, bounded but potentially persistent and nontrivial drift in the source.
ISSN:0167-6911
1872-7956
DOI:10.1016/j.sysconle.2008.07.008