Observer-based dynamic event-triggered control for distributed parameter systems over mobile sensor-plus-actuator networks

We develop a policy of observer-based dynamic event-triggered state feedback control for distributed parameter systems over a mobile sensor-plus-actuator network.It is assumed that the mobile sensing devices that provide spatially averaged state measurements can be used to improve state estimation in the network.For the purpose of decreasing the update frequency of controller and unnecessary sampled data transmission, an efficient dynamic event-triggered control policy is constructed.In an event-triggered system, when an error signal exceeds a specified time-varying threshold, it indicates the occurrence of a typical event.The global asymptotic stability of the event-triggered closed-loop system and the boundedness of the minimum inter-event time can be guaranteed.Based on the linear quadratic optimal regulator, the actuator selects the optimal displacement only when an event occurs.A simulation example is finally used to verify that the effectiveness of such a control strategy can enhance the system performance.

Improved control of distributed parameter systems using wireless sensor and actuator networks:An observer-based method

In this paper,the control problem of distributed parameter systems is investigated by using wireless sensor and actuator networks with the observer-based method.Firstly,a centralized observer which makes use of the measurement information provided by the fixed sensors is designed to estimate the distributed parameter systems.The mobile agents,each of which is affixed with a controller and an actuator,can provide the observer-based control for the target systems.By using Lyapunov stability arguments,the stability for the estimation error system and distributed parameter control system is proved,meanwhile a guidance scheme for each mobile actuator is provided to improve the control performance.A numerical example is finally used to demonstrate the effectiveness and the advantages of the proposed approaches.

Cooperative Sensing and Distributed Control of a Diffusion Process Using Centroidal Voronoi Tessellations

This paper considers how to use a group of robots to sense and control a diffusion process.The diffusion process is modeled by a partial differential equation (PDE),which is a both spatially and temporally variant system.The robots can serve as mobile sensors,actuators,or both.Centroidal Voronoi Tessellations based coverage control algorithm is proposed for the cooperative sensing task.For the diffusion control problem,this paper considers spraying control via a group of networked mobile robots equipped with chemical neutralizers,known as smart mobile sprayers or actuators,in a domain of interest having static mesh sensor network for concentration sensing.This paper also introduces the information sharing and consensus strategy when using centroidal Voronoi tessellations algorithm to control a diffusion process.The information is shared not only on where to spray but also on how much to spray among the mobile actuators.Benefits from using CVT and information consensus seeking for sensing and control of a diffusion process are demonstrated in simulation results.