Abstract
This paper addresses the anti-collision problem among mobile sensors-actuators, and settles the obstacle avoidance trouble between dynamic sensors-actuators and erratic obstacles in mobile sensor-actuator networks, which are based on a class of distributed parameter systems with time-varying delay. Initially, the radar obstacle avoidance technology is evolved into an obstacle avoidance function, combined with the anti-collision function. Subsequently, the static output feedback controller of distributed parameter systems is established. Then, by using the abstract development equation theory, operator semigroup approach and Lyapunov stability arguments, the stability analysis of the distributed parameter systems with time-varying delay is carried out. Moreover, an iterative and continuous control force on account of Newton’s second law is constructed, which makes anti-collision and obstacle avoidance control of mobile sensors-actuators be realized, and accelerates the state of this delayed system to be stable. Finally, numerical simulation results indicate that the proposed control strategy is effective.
Similar content being viewed by others
References
M. Haenggi, “Mobile sensor-actuator networks: Opportunities and challenges,” Proc. of the 7th IEEE International Workshop on Cellular Neural Networks and Their Applications, pp. 283–290, 2002.
L. Mo and B. Xu, “Coordination mechanism based on mobile actuator design for wireless sensor and actuator networks,” Wireless Communications & Mobile Computing, vol. 15, no. 8, pp. 1274–1289, August 2013.
A. V. Sakin, T. M. Cheng, Z. Xi, F. Javed, A. S. Matveev, and H. Nguyen, Decentralized Coverage Control Problems for Mobile Robotic Sensor and Actuator Networks, Wiley-IEEE Press, Piscataway N.J., 2015.
M. Saedy and B. Kelley, “Consensus-based cooperative communications for clustered mobile wireless sensor-actuator networks,” International Journal of Mobile Network Design & Innovation, vol. 4, no. 1, pp. 40–46, January 2015.
C. Rubia-Marcos, J. Medina-García, J. Galán, D. Daza, and R. G. Carvajal, “Low activity mechanism for mobile sensor/actuator networks based on IEEE 802.15.4,” Wireless Personal Communications, vol. 97, no. 1, pp. 1–16, November 2017.
M. A. Demetriou and D. Uciński, “State estimation of spatially distributed processes using mobile sensing agents,” Proc. of American Control Conference, pp. 1770–1776, 2011.
I. I. Hussein and D. M. Stipanovic, “Effective coverage control for mobile sensor networks with guaranteed collision avoidance,” IEEE Transactions on Control Systems Technology, vol. 15, no. 4, pp. 642–657, July 2007.
Z. X. Jiang, B. T. Cui, X. Y. Lou, and X.-J. Zhang, “Controlling distributed parameter systems utilizing mobile sensor-actuator networks with guaranteed collision avoidance,” Control and Decision, vol. 29, no. 3, pp. 2242–2246, December 2014.
J. Z. Zhang and B. T. Cui, “Mobile control strategy with guaranteed collision avoidance for a class of distributed parameter systems with moving boundaries,” Information and Control, vol. 47, no. 4, pp. 634–640, April 2018.
H. S. Fu and B. T. Cui, “Collision avoidance control of mobile sensor and actuator networks for distributed parameter systems with time-delay,” Control Theory & Applications, vol. 37, no. 2, pp. 245–252, February 2020.
L. Dai, Q. Cao, Y. Xia, and Y. Gao, “Distributed MPC for formation of multi-agent systems with collision avoidance and obstacle avoidance,” Journal of the Franklin Institute, vol. 354, no. 4, pp. 2068–2085, April 2017.
Q. Shi, T. Li, J. Li, C. L. P. Chen, Y. Xiao, and Q. Shan, “Adaptive leader-following formation control with collision avoidance for a class of second-order nonlinear multiagent systems,” Neurocomputing, vol. 350, no. 20, pp. 282–290, July 2019.
J. J. Li, W. Zhang, H. Su, Y. Yang, and H. Zhou, “Coordinated obstacle avoidance with reduced interaction,” Neurocomputing, vol. 139, no. 2, pp. 233–245, September 2014.
S. T. Mitrovic and Z. M. Djurovic, “Fuzzy-based controller for differential drive mobile robot obstacle avoidance,” IFAC Proceedings Volumes, vol. 43, no. 16, pp. 67–72, April 2010.
N. Zhou, Y. Xia, and R. Chen, “Finite-time fault-tolerant coordination control for multiple Euler-Lagrange systems in obstacle environments,” Journal of the Franklin Institute, vol. 354, no. 8, pp. 3405–3429, August 2017.
M. A. Demetriou, “Design of adaptive output feedback synchronizing controllers for networked PDEs with boundary and in-domain structured perturbations and disturbances,” Automatica, vol. 90, pp. 220–229, February 2018.
V. P. Tran, M. Garratt, and I. R. Petersen. “Distributed obstacle and multi-robot collision avoidance in uncertain environments,” arXiv:1811.06196, pp. 1–12, 2018.
K. D. Do, “Coordination control of multiple ellipsoidal agents with collision avoidance and limited sensing ranges,” Systems & Control Letters, vol. 61, no. 1, pp. 247–257, January 2012.
C. Franco, D. M. Stipanović, G. López-Nicolás, C. Sagüés, and S. Llorente, “Persistent coverage control for a team of agents with collision avoidance,” European Journal of Control, vol. 22, pp. 30–45, March 2015.
Y. Q. Xia, X. T. Na, Z. Q. Sun, and J. Chen, “Formation control and collision avoidance for multi-agent systems based on position estimation,” ISA Transactions, vol. 61, pp. 287–296, March 2016.
J. L. Yu, X. W. Dong, Q. D. Li, and Z. Ren, “Practical time-varying output formation tracking for high-order multiagent systems with collision avoidance, obstacle dodging and connectivity maintenance,” Journal of the Franklin Institute, vol. 356, no. 12, pp. 5898–5926, August 2019.
J. F. Flores-Resendiz, J. Meza-Herrera, and E. Aranda-Bricaire, “Adaptive leader-following formation control with collision avoidance for a class of second-order nonlinear multi-agent systems,” IFAC-PapersOnLine, vol. 52, no. 15, pp. 127–132, December 2019.
J. S. Salinas and E. A. Bricairel, “Time-varying formation tracking with collision avoidance for multi-agent systems,” IFAC-PapersOnLine, vol. 50, no. 1, pp. 309–314, July 2017.
J. C. Kim, D. S. Pae, and M. T. Lim, “Obstacle avoidance path planning based on output constrained model predictive control,” International Journal of Control, Automation and Systems, vol. 17, no. 11, pp. 2850–2861, July 2019.
X. W. Yin, X. N. Song, and M. Wang, “Passive fuzzy control design for a class of nonlinear distributed parameter systems with time-varying delay,” International Journal of Control, Automation and Systems, vol. 27, no. 4, pp. 911–921, November 2020.
M. A. Demetriou and I. I. Hussein, “Estimation of spatially distributed processes using mobile spatially distributed sensor network,” SIAM Journal on Control and Optimization, vol. 48, no. 1, pp. 266–291, January 2009.
M. A. Demetriou, “Guidance of mobile actuator plus sensor networks for improved control and estimation of distributed parameter systems,” IEEE Transactions on Automatic Control, vol. 55, no. 7, pp. 1570–1584, July 2010.
Z. X. Jiang, B. T. Cui, and X. Y. Lou, “Improved control of distributed parameter systems with time-varying delay based on mobile actuator-sensor networks,” IFAC Proceedings Volumes, vol. 47, no. 3, pp. 6490–6495, March 2014.
H. L. Xu, Z. P. Lin, X. K. Zhai, H. Feng, and X. Chen, “Quadratic stability analysis and robust distributed controllers design for uncertain spatially interconnected systems,” Journal of the Franklin Institute, vol. 355, no. 16, pp. 7924–7961, November 2018.
X. W. Zhang and H. N. Wu, “Fuzzy stabilization design for semilinear parabolic PDE systems with mobile actuators and sensors,” IEEE Transactions on Fuzzy Systems, vol. 28, no. 3, pp. 474–486, March 2020.
X. W. Zhang and H. N. Wu, “H∞ control design for nonlinear distributed parameter systems with mobile actuators and sensors,” IET Control Theory & Applications, vol. 13, no. 14, pp. 2228–2238, June 2019.
H. N. Wu and X. W. Zhang, “Static output feedback stabilization for a linear parabolic PDE system with time-varying delay via mobile collocated actuator/sensor pairs,” Automatica, vol. 117, pp. 108993, July 2020.
Author information
Authors and Affiliations
Corresponding author
Additional information
This work is supported by National Natural Science Foundation of China (grant number 61473136), (grant number 61807016).
Huansen Fu received his B.S. and M.S. degrees in electrical engineering both from Jiangnan University (Wuxi, China), in 2006 and 2008, respectively. He is currently a Ph.D. student in the School of IoT Engineering, Jiangnan University. He is currently an associate professor of Taizhou University, Taizhou, Jiangsu, China. His interests include distributed parameter systems, intelligent automation, process control.
Baotong Cui received his Ph.D. degree in control theory and control engineering from the College of Automation Science and Engineering, South China University of Technology in 2003. He was a postdoctoral fellow at Shanghai Jiaotong University from July 2003 to September 2005, and a visiting scholar at Department of Electrical and Computer Engineering, National University of Singapore from August 2007 to February 2008. He is now a professor in the School of IoT Engineering, Jiangnan University. His current research interests include systems analysis, stability theory, artificial neural networks and chaos synchronization
Bo Zhuang received his B.S. degree in computer science and education and his M.S. degree in computer science and technology from Shandong Normal University, in 1999 and 2008, respectively. He received his Ph.D. degree in control theory and control engineering from School of IoT Engineering in 2019, Jiangnan University, Wuxi, Jiangsu, China. His current research interests include distributed parameter systems, and multi-agent systems.
Jianzhong Zhang received his B.S. and M.S. degrees in mathematics from Shandong University of Science and Technology, Tsingtao, Shandong, China, and a Ph.D. degree in control science and engineering from Jiangnan University, Wuxi, Jiangsu, China, in 2005, 2008, and 2019, respectively. He is currently a lecturer in the School of Mathematics and Statistics, Taishan University. His current research interests include distributed parameter systems, networked control systems, mobile control and stability theory.
Publisher’s Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Fu, H., Cui, B., Zhuang, B. et al. Anti-collision and Obstacle Avoidance of Mobile Sensor-plus-actuator Networks over Distributed Parameter Systems with Time-varying Delay. Int. J. Control Autom. Syst. 19, 2373–2384 (2021). https://doi.org/10.1007/s12555-020-0317-9
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12555-020-0317-9