Brief paper: Observer design via Immersion and Invariance for vision-based leader-follower formation control

Authors:
Fabio Morbidi;Gian Luca Mariottini;Domenico Prattichizzo
Affiliations:
Department of Information Engineering, University of Siena, Via Roma 56, 53100 Siena, Italy;Department of Computer Science and Engineering, University of Minnesota, 200 Union St. SE, Minneapolis, MN 55455, USA;Department of Information Engineering, University of Siena, Via Roma 56, 53100 Siena, Italy
Venue:
Automatica (Journal of IFAC)
Year:
2010

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Abstract

The paper introduces a new vision-based range estimator for leader-follower formation control, based upon the Immersion and Invariance (I&I) methodology. The proposed reduced-order nonlinear observer is simple to implement, easy to tune and achieves global asymptotical convergence of the observation error to zero. Observability conditions for the leader-follower system are analytically derived by studying the singularity of the Extended Output Jacobian. The stability of the closed-loop system arising from the combination of the range estimator and an input-state feedback controller is proved by means of Lyapunov arguments. Simulation experiments illustrate the theory and show the effectiveness of the proposed designs.