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.

本文针对一类具有时变时滞的分布参数系统，解决了移动传感器执行器之间的防撞问题，解决了动态传感器执行器与移动传感器执行器网络中不稳定的障碍物之间的避障问题。 。最初，雷达避障技术已发展成为与防撞功能相结合的避障功能。随后，建立分布式参数系统的静态输出反馈控制器。然后，利用抽象发展方程理论，算子半群法和Lyapunov稳定性参数，对时变时滞分布参数系统进行了稳定性分析。而且，构造了基于牛顿第二定律的迭代和连续控制力，从而实现了移动传感器-执行器的防撞和避障控制，并使该延迟系统的状态变得稳定。最后，数值仿真结果表明所提出的控制策略是有效的。