时滞分布参数系统的移动传感器/执行器防碰撞控制

Collision avoidance control of mobile sensor and actuator networks for distributed parameter systems with time-delay

针对一类状态时滞的分布参数系统,考虑了传感器/执行器间的防碰撞问题和最大通讯距离的最小通讯能耗问题,以及系统的稳定性问题.利用抽象发展方程理论和Lyapunov稳定性方法,设计了一种基于时滞分布参数系统的智能体移动控制策略,包括输出反馈控制器和移动控制力.通过理论推导和仿真实验验证,文中设计的控制策略能够使得时滞分布参数系统是渐近稳定的,同时智能体在移动过程中是防碰撞的,也验证了智能体在最大通讯距离的最小能耗.

A class of distributed parameter systems with state delay has been studied,including the collision avoidance among the sensors/actuators,and the minimum energy consumption of communication under the maximum distance problem,and also involving the stability control of this system.Using the theory of abstract evolution equations and Lyapunov stability method,this paper has designed a mobile control strategy for some intelligent agents based on the distributed parameter systems with time-delay,including output feedback controller and mobile control force.Through theoretical derivation and simulation experiments,the designed control strategy can make the distributed parameter systems with timedelay asymptotically stable and avoidable collision among the intelligent agents in the process of moving,which also verify the agent the maximum communication distance with the minimum energy consumption.