Fixed-time orientation estimation and network localisation of multi-agent systems

Abstract

Among different distributed network localisation methods, displacement-based network localisation with orientation estimation is an effective approach because it does not require global information and yet asymptotically produces accurate estimates. In this paper, to improve transient performance of this approach, non-linear laws to achieve fixed-time orientation estimation and fixed-time displacement-based localisation are proposed. A sequential algorithm ensuring fixed-time convergence property and show uniform asymptotic stability of a fixed-time network localisation with simultaneous fixed-time orientation estimation is further provided. Simulation results verify that the proposed laws achieve network localisation of multi-agent systems within fixed settling time.