research-article

Variance‐constrained resilient H_∞ filtering for mobile robot localization under dynamic event‐triggered communication mechanism

Authors:

Hamid Reza KarimiAuthors Info & Claims

Asian Journal of Control, Volume 23, Issue 5

Pages 2064 - 2078

https://doi.org/10.1002/asjc.2581

Published: 01 October 2021 Publication History

Abstract

This paper is concerned with the mobile robot localization problem subject to filter gain uncertainty under dynamic event‐triggered communication mechanism, and meanwhile, the H_∞ filtering performance and the error variance constraint are guaranteed. For saving the sensor energy, a dynamic event‐triggered communication mechanism is introduced to manage the transmission of the measurement data from the sensor to the filter. To characterize the possible fluctuations of the desired filter gain, a resilient filter is constructed for the mobile robot localization. The aim of this paper is to find a solution to the mobile robot localization problem by designing a nonlinear resilient filter such that the filtering error dynamics satisfies both the H_∞ performance requirement and the error variance constraint over a finite time horizon simultaneously. By resorting to the Lyapunov theory and the stochastic analysis technique, the sufficient conditions are established to guarantee that the error dynamic system satisfies both the H_∞ performance requirement and the error variance constraint. Then, a recursive linear matrix inequality (RLMI) approach is employed to design the desired filter. Based on the proposed filter design scheme, the corresponding localization algorithm is presented. Finally, an experiment is conducted in the simulation environment to verify the effectiveness of the proposed localization algorithm.

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Cited By

Han CChen DHu JYu H(2023)Set membership filtering for discrete saturated time‐varying networked systems with incomplete measurements under round‐robin protocolAsian Journal of Control10.1002/asjc.313225:6(4721-4732)Online publication date: 16-Nov-2023
https://dl.acm.org/doi/10.1002/asjc.3132

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Variance‐constrained resilient H_∞ filtering for mobile robot localization under dynamic event‐triggered communication mechanism

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Published In

cover image Asian Journal of Control

Asian Journal of Control Volume 23, Issue 5

September 2021

491 pages

ISSN:1561-8625

EISSN:1934-6093

DOI:10.1002/asjc.v23.5

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© 2021 The Authors. Asian Journal of Control published by John Wiley & Sons Australia, Ltd on behalf of Chinese Automatic Control Society.

This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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John Wiley & Sons, Inc.

United States

Publication History

Published: 01 October 2021

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Cited By

Han CChen DHu JYu H(2023)Set membership filtering for discrete saturated time‐varying networked systems with incomplete measurements under round‐robin protocolAsian Journal of Control10.1002/asjc.313225:6(4721-4732)Online publication date: 16-Nov-2023
https://dl.acm.org/doi/10.1002/asjc.3132

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