Guaranteed Performance Nonlinear Observer for Simultaneous Localization and Mapping

Hashim, Hashim A.

doi:10.1109/lcsys.2020.3000266

Cited by 23 publications

(28 citation statements)

References 17 publications

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“…It should be noted that the control protocol designed in this paper is based on the undirected signed graphs, however, the corresponding distributed adaptive BTVF control protocol under directed signed graphs can be proposed based on the further work of this paper. Besides, the result of uniformly ultimately bounded is not strong in comparison with asymptotic stability, which may be solved by the observer-based method in [1] or the filter designed in [28]. Furthermore, there are many other improved PID control strategies that are also widely used and may be able to…”

Section: Discussionmentioning

confidence: 99%

“…A distributed PID control strategy is designed with external disturbances in [27], but the disturbances are assumed to be fixed. A geometric nonlinear stochastic estimator algorithm with unknown constant bias and noise is proposed for Simultaneous Localization and Mapping in [28], where the pose and landmark positions are successfully estimated.…”

Section: Introductionmentioning

confidence: 99%

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Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems

et al. 2021

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This paper investigates the bipartite time-varying formation control problem for a class of heterogeneous unknown nonlinear multi-agent systems. This bipartite time-varying formation is composed of two sub-formations whose relationship is opposite. By parameterization the unknown nonlinear items of all agents, a distributed adaptive proportional-integral protocol is presented under undirected signed topology to ensure the convergence of the bipartite time-varying formation error. Some sufficient conditions for choosing suitable control parameters are given. In the case of systems with external time-varying but bounded disturbances, the uniformly ultimate boundedness of the formation error and its integration can be guaranteed by the proposed control protocol. A simulative example is provided to illustrate the effectiveness of the proposed protocol.INDEX TERMS heterogeneous, multi-agent systems, distributed control, adaptive control, bipartite timevarying formation.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems

et al. 2021

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“…However, the work in [24] did not fully capture the true nonlinearity of the SLAM problem. To address this shortcoming, a nonlinear observer for SLAM able to handle unknown bias attached to velocity measurements has been proposed in [5], [6]. Despite significant progress, none of the above-mentioned observers incorporated a measure that would guarantee error convergence for the transient and steady-state performance.…”

Section: Introductionmentioning

confidence: 99%

Landmark and IMU Data Fusion: Systematic Convergence Geometric Nonlinear Observer for SLAM and Velocity Bias

Hashim

Eltoukhy

2022

IEEE Trans. Intell. Transport. Syst.

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Navigation solutions suitable for cases when both autonomous robot's pose (i.e., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by concurrently mapping the environment and observing robot's pose with respect to the map. This work proposes a nonlinear observer for SLAM posed on the manifold of the Lie group of SLAMn (3), characterized by systematic convergence, and designed to mimic the nonlinear motion dynamics of the true SLAM problem. The system error is constrained to start within a known large set and decay systematically to settle within a known small set. The proposed estimator is guaranteed to achieve predefined transient and steady-state performance and eliminate the unknown bias inevitably present in velocity measurements by directly using measurements of angular and translational velocity, landmarks, and information collected by an inertial measurement unit (IMU). Experimental results obtained by testing the proposed solution on a real-world dataset collected by a quadrotor demonstrate the observer's ability to estimate the six-degrees-of-freedom (6 DoF) robot pose and to position unknown landmarks in threedimensional (3D) space.

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“…Furthermore, research work on observers recently has been applied to the UAVs for various applications. [34] used nonlinear observer for simultaneous localization and mapping, hence reducing error asymptotically. The work in [35] proposed H ∞ observers to address actuator faults and state estimation in presence of disturbances of quadrotors.…”

Section: Introductionmentioning

confidence: 99%

Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer

et al. 2021

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This paper focuses on robust wind disturbance rejection for nonlinear quadrotor models. By leveraging on nonlinear unknown observer theory, it proposes a nonlinear dynamic filter that, using sensors already on-board the aircraft, can estimate in real-time wind gust signals in the three dimensions. The wind disturbance is then treated as input to the PD controller for a quick and robust flight pathway in presence of disturbances. With this scheme, the wind disturbance can be precisely estimated online and compensated in real-time. Hence, the quadrotor can successfully reach its desired attitude and position. To show the effective and desired performance of the method, simulation results are presented in Matlab/Simulink and ROS-enabled Gazebo platform.

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Guaranteed Performance Nonlinear Observer for Simultaneous Localization and Mapping

Cited by 23 publications

References 17 publications

Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems

Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems

Landmark and IMU Data Fusion: Systematic Convergence Geometric Nonlinear Observer for SLAM and Velocity Bias

Robust Motion Control of Nonlinear Quadrotor Model With Wind Disturbance Observer

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