Journal of Electrical Engineering and Technology

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지
DOI QR코드

DOI QR Code

Disturbance Observer based Boundary Tracking for Environment Monitoring

  • Kim, Jung-Su (Dept. of EIE, Seoul National University of Science and Technology) ;
  • Menon, Prathyush P. (College of Engineering, Mathematics and Physical Sciences, University of Exeter) ;
  • Back, Juhoon (School of Robotics, Kwangwoon University) ;
  • Shim, Hyungbo (Automation and Systems Research Institute (ASRI) and Dept. of Electrical and Computer Engineering, Seoul National University)
  • Received : 2016.10.11
  • Accepted : 2017.02.17
  • Published : 2017.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a boundary tracking control of an agent. To this end, it is shown that the boundary tracking problem can be reformulated into a robust control of uncertain double integrator first. Then, a disturbance observer (DOB) based control is proposed solving the robust control problem. Unlike the existing results in the literature, the proposed DOB based control requires only the local position measurement of the boundary (not the gradient information). The performance of the proposed control is demonstrated for two cases: the measurement of the boundary is given in a continuous or discrete manner. Finally, it is shown that the proposed control can be used for environmental monitoring as well by showing that the agent follows a level curve of real environmental monitoring data.

Keywords

References

  1. C. T. Hardin, X. Cui, R. K. Ragade, J. H. Graham, and A.S. Elmaghraby. A modified particle swarm algorithm for robotic mapping of hazardous environments. In Proceedings of the World Automation Congress, 2004.
  2. C. M. Hsieh, Z. Jin, D. Marthaler, B. Q. Nguyen, D. J. Tung, A. L. Bertozzi, and R. M. Murray. Experimental validation of an algorithm for cooperative boundary tracking. In Proceedings of American Control Conference, New York, 2005.
  3. D. Marthaler and A. L. Bertozzi. Tracking environmental level sets with autonomous vehicles. In In Recent Developments in Cooperative Control and Estimation, Kluwer Academic Publishers, 2004.
  4. J. Clark and R. Fierro. Cooperative hybrid control of robotic sensors for perimeter detection and tracking. In Proceedings of American Control Conference, Portland, 2005.
  5. D. Baronov and J. Baillieul. Autonomous vehicle control for ascending/descending along a potential field with two applications. In Proceedings of American Control Conference, 2008.
  6. J. Cochran and M. Krstic. Source seeking with a nonholonomic unicycle without position measurements and with tuning of angular velocity part i: Stability analysis. In Proceedings of 46th IEEE Conference on Decision and Control, New Orleans, 2007.
  7. L. Brinon-Arranz, A. Seuret, and C. Canudas de Wit. Collaborative estimation of gradient direction by a formation of AUVs under communication constraints. In Proceedings of 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, 2011.
  8. C. Canudas de Wit, F. Garin, R. Fabbiano, P. Rouchon, and A. Rousseau. Source localization using poisson integrals. In In Proceedings of 3rd IFAC Workshop on distributed estimation and control in networked systems (NecSys'12), 2012.
  9. P. P. Menon, C. Edwards, Y. B. Shtessel, D. Ghose, and J. Haywood. Boundary tracking using a suboptimal sliding mode algorithm. In the 53rd Proceeding of IEEE Conference on Decision and Control, 2014.
  10. P. P. Menon and D. Ghose. Simultaneous source localisation and boundary mapping for contaminants. In Proceedings of American Contol Conference, Washington D. C., 2013.
  11. K. N. Krishnanand and D. Ghose. Detection of multiple source locations using a glowworm metaphor with applications to collective robotics. In Pro-ceedings of IEEE Swarm Intelligence Symposium (SIS 2005), Pasadena, California, 2005.
  12. P. P. Menon and D. Ghose. 3-dimensional boundary mapping. In Proceedings of American Control Conference, Montreal, 2012.
  13. J. Back and H. Shim. Adding robustness to nominal output-feedback controllers for uncertain nonlinear systems: A nonlinear version of disturbance observer. Automatica, 44:2528-2537, 2008. https://doi.org/10.1016/j.automatica.2008.02.024
  14. J. Back and J.-S. Kim. A disturbance observer based practical coordinated tracking controller for uncertain heterogeneous multi-agent systems. Int. J. Robust and Nonlinear Control, 25:2254-2278, 2015. https://doi.org/10.1002/rnc.3197
  15. H. K. Khalil. Nonlinear Systems, Third Ed. Prentice-Hall, Upper Saddle River, NJ, 2002.
  16. S. J. Leadbetter and M. C. Hort. Volcanic ash hazard climatology for an eruption of hekla volcano, iceland. J. Volcanol. Geotherm. Res., 199:230-241, 2011. https://doi.org/10.1016/j.jvolgeores.2010.11.016
  17. H. N. Webster, D. J. Thomson, B. T. Johnson, I. P. C. Heard, K. Turnbull, F. Marenco, N. I. Kristiansen, J. Dorsey, A. Minikin, B. Weinzierl, U. Schumann, R. S. J. Sparks, S. C. Loughlin, M. C. Hort, S. J. Leadbetter, B. J. Devenish, A. J. Manning, C. S. Witham, J. M. Haywood, and B. W. Golding. Operational prediction of ash concentrations in the distal volcanic cloud from the 2010 Eyjafyallajokull eruption. J. Geophys. Res., 117, 2012.