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Anti-collision and Obstacle Avoidance of Mobile Sensor-plus-actuator Networks over Distributed Parameter Systems with Time-varying Delay

  • Control Theory and Applications
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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.

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Authors and Affiliations

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Correspondence to Huansen Fu.

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.

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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

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