I. Introduction
Array signal processing has been extensively applied in the fields like radar, navigation, wireless communication, and so forth. One of the most important topics in array processing is direction-of-arrival (DOA) estimation [1]–[6], in which the DOAs of plane waves impinging on a sensor array need to be determined. Many high-resolution eigendecomposition methods such as multiple signal classification (MUSIC) [7], estimation of signal parameter via rotational invariance technique (ESPRIT) [8], and maximum likelihood (ML) [9] have been devised to tackle the problem of DOA estimation. However, it has been generally accepted that the performance of these methods is critically dependent on the knowledge of the array manifold. Unfortunately, the array perturbations are inevitable in practical applications, and hence the estimators performance would degrade substantially when errors exist and the assumed observation model deviates from real situation.