This paper is concerned with a control problem of a diffusion process with the help of static mesh sensor networks in a certain region of interest and a team of networked mobile actuators carrying chemical neutralizers.The major contribution of this paper can be divided into three parts:the first is the construction of a cyber-physical system framework based on centroidal Voronoi tessellations(CVTs),the second is the convergence analysis of the actuators location,and the last is a novel proportional integral(PI)control method for actuator motion planning and neutralizing control(e.g.,spraying)of a diffusion process with a moving or static pollution source,which is more effective than a proportional(P)control method.An optimal spraying control cost function is constructed.Then,the minimization problem of the spraying amount is addressed.Moreover,a new CVT algorithm based on the novel PI control method,henceforth called PI-CVT algorithm,is introduced together with the convergence analysis of the actuators location via a PI control law.Finally,a modified simulation platform called diffusion-mobile-actuators-sensors-2-dimension-proportional integral derivative(Diff-MAS2D-PID)is illustrated.In addition,a numerical simulation example for the diffusion process is presented to verify the effectiveness of our proposed controllers.
This paper derives the recursive formulas of the computation of the criterion functions for the well-known wei...
Junxia Ma 1 , Weili Xiong 1 , Rui Ding 2 1. Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Jiangnan University, Wuxi, 214122, PR China2. School of Internet of Things Engineering, Jiangnan University, Wuxi 214122 PR China
In this paper, a partially coupled recursive least squares (PC-RLS) algorithm is proposed to estimate the para...
Yanjun Liu 1 , Rui Ding 2 1. Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Jiangnan University, Wuxi 214122, PR China2. School of Internet of Things Engineering, Jiangnan University, Wuxi 214122, PR China
This paper studies the consensus problems for multi-agent systems with general linear and nonlinear dynamics. The leaderless and leader-following consensus problems are investigated respectively. Contraction theory is employed to generate some sufficient conditions for testing the agents reaching consensus. Under these conditions and certain assumptions,the trajectories of multi-agent systems in directed topology will converge to each other. Finally, two numerical examples are given to illustrate the effectiveness of the proposed results.
