基于通信约束的无线传感器网络的研究
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摘要
无线传感器网络是一种新兴的网络,它由大量价格低廉、功耗低、自组织能力强的传感器节点组成。这种网络具有相当广阔应用前景,在军事、环境监测和保护及医疗卫生等领域已有非常多的应用。目前,无线传感器网络的研究主要集中在分层网络协议、传感器网络管理技术和应用支撑技术这三个方面,对于无线传感器网络控制方面的研究成果还不多。
本文是基于控制理论的角度来研究无线传感器网络的问题。首先简要介绍了无线传感器网络的概念、结构特点、研究热点问题及相关研究现状,并且针对本文研究简要介绍了控制理论的一些主要稳定性理论、切换系统的研究方法和不确定性系统的研究方法,以及多传感器网络的数据融合方法。
在无线传感器的滤波控制问题中,依据Kalman滤波理论和加权融合方法得到对环境的一个最优观测信号,并通过综合和分析,将无线传感器网络稳定性问题转化为一个带干扰的离散切换系统的稳定性问题,最后通过采用Lyapunov函数方法得到随机切换系统满足H∞控制的充分条件。
无线传感器执行器网络是无线传感器控制研究中的一个重要问题,本文在考虑了一个具体的应用实例的条件下,依据分布式结构特点,建立了适当的模型,并通过综合分析,通过设计出适当的控制器,并根据一类不确定性系统H∞控制稳定性定理,得到了一个H∞控制的稳定性条件。最后用仿真实例说明了方法的有效性。
最后对全文的工作进行了总结,并对今后的进一步研究和发展方向进行了展望。
Wireless sensor networks which is consisted of many sensor nodes which are low-cost, low power consumption, self-organizing ability is a new network. This network has a very broad application prospects in the fields of military, environmental monitoring and protection, and medical and health. Currently, wireless sensor networks mainly focused on three aspects of layered network protocol, sensor network management technology and application of these supporting technologies, and there is little work on the research of the control for wireless sensor networks.
In this thesis, the wireless sensor networks have been studied based on the theory of control. Firstly, the concept, the structure characteristic, the hot topic and the current status of research of the wireless sensor networks have been introduced briefly. Secondly, some main stability theory of control theory and the research methods of switching systems and uncertain systems have been shown briefly in the thesis.
According to Kalman filtering theory and weighted fusion methods, a optimal observed signal for the environment can be obtained in the filtering control problem of wireless networks. And the stability problem of wireless networks can be transformed to the stability problem of a discrete switching system with disturbance, then the sufficient condition of stochastic switching systems can be controlled by H- infinity was obtained by Lyapunov function.
The wireless sensor-actuator network is a key issue in the wireless sensor control. A corresponding model has been established through the characteristic of the distributed structure with a special application being considered. And the controller has been designed via comprehensive analysis. Then a stability condition of H-infinity control has been obtained according to the stability definition of a class of uncertain systems. And the simulation has been given to show the effective of the proposed method.
Finally,a summary has been done for all discussions in the thesis. The research works in further study are presented.
本文是基于控制理论的角度来研究无线传感器网络的问题。首先简要介绍了无线传感器网络的概念、结构特点、研究热点问题及相关研究现状,并且针对本文研究简要介绍了控制理论的一些主要稳定性理论、切换系统的研究方法和不确定性系统的研究方法,以及多传感器网络的数据融合方法。
在无线传感器的滤波控制问题中,依据Kalman滤波理论和加权融合方法得到对环境的一个最优观测信号,并通过综合和分析,将无线传感器网络稳定性问题转化为一个带干扰的离散切换系统的稳定性问题,最后通过采用Lyapunov函数方法得到随机切换系统满足H∞控制的充分条件。
无线传感器执行器网络是无线传感器控制研究中的一个重要问题,本文在考虑了一个具体的应用实例的条件下,依据分布式结构特点,建立了适当的模型,并通过综合分析,通过设计出适当的控制器,并根据一类不确定性系统H∞控制稳定性定理,得到了一个H∞控制的稳定性条件。最后用仿真实例说明了方法的有效性。
最后对全文的工作进行了总结,并对今后的进一步研究和发展方向进行了展望。
Wireless sensor networks which is consisted of many sensor nodes which are low-cost, low power consumption, self-organizing ability is a new network. This network has a very broad application prospects in the fields of military, environmental monitoring and protection, and medical and health. Currently, wireless sensor networks mainly focused on three aspects of layered network protocol, sensor network management technology and application of these supporting technologies, and there is little work on the research of the control for wireless sensor networks.
In this thesis, the wireless sensor networks have been studied based on the theory of control. Firstly, the concept, the structure characteristic, the hot topic and the current status of research of the wireless sensor networks have been introduced briefly. Secondly, some main stability theory of control theory and the research methods of switching systems and uncertain systems have been shown briefly in the thesis.
According to Kalman filtering theory and weighted fusion methods, a optimal observed signal for the environment can be obtained in the filtering control problem of wireless networks. And the stability problem of wireless networks can be transformed to the stability problem of a discrete switching system with disturbance, then the sufficient condition of stochastic switching systems can be controlled by H- infinity was obtained by Lyapunov function.
The wireless sensor-actuator network is a key issue in the wireless sensor control. A corresponding model has been established through the characteristic of the distributed structure with a special application being considered. And the controller has been designed via comprehensive analysis. Then a stability condition of H-infinity control has been obtained according to the stability definition of a class of uncertain systems. And the simulation has been given to show the effective of the proposed method.
Finally,a summary has been done for all discussions in the thesis. The research works in further study are presented.
引文
[1]马保国,乔玲玲,贾寅波.无线传感器网络研究综述.计算机与数字工程, 2008, (9): 50–53.
[2]李建中,高宏.无线传感器网络的研究进展.计算机研究与发展, 2008, 1: 1–15.
[3]唐启涛,陶滔.无线传感器网络综述.网络安全技术与应用, 2008, 2: 80–82.
[4] Yick J, Mukherjee B, Ghosal D. Wireless sensor network survey. Computer Networks, 2008, 52(12): 2292–2330.
[5] Akyildiz I, Su W, Sankarasubramaniam Y, et al. A survey on sensor networks. IEEE Communications Magazine, 2002, 40(8):102–114.
[6]崔莉等.无线传感器网络研究进展.计算机研究与发展, 2005, 1: 163-174.
[7]李晓维.无线传感器网络技术.北京:北京理工大学出版社, 2007.
[8] Royer EM, Toh CK . A review of current routing protocols for ad hoc mobile wireless networks. IEEE Personal Communications, 1999, 6(2): 46-55.
[9] Song Guo, Oliver Yang. QoS-aware minimum energy multicast tree construction in wireless ad hoc networks. Ad Hoc Networks, 2004, 2(3): 217-229.
[10]孙利民,李建中,陈渝等.无线传感器网络.北京:清华大学出版社, 2005, 9-11.
[11] K.D.Wong. Physical layer considerations for wireless sensor networking. International Conference on Networking, sensing and control. Taipei: IEEE, 2004. 1201-1206.
[12] L.C.Zhong, J.Rababy, C, L. Guo, et al. Data link layer design for wireless sensor networks. Communications for Network-Centric Operation. Creating the Information Force. Washington: 2001.
[13] Q.F.Jiang, D.Manivannan. Routing protocols for sensor networks. The 1st IEEE Consumer and Communications and Networking Conference. Las Vegas NV, USA: 2004.
[14] J.Elson, D.Estrin. Time synchronization for wireless sensor network. In Proceedingsof the 15th Parallel and Distributed Processing Symposium. San Francisco: IEEE Computer Society: 2001. 1965-1970.
[15] A.Sinha, A.Chandraksan. Dynamic power management in wireless sensor networks. Design & Test of Computers, 2001, 18(2): 62-74.
[16]杨春曦.基于随机切换的网络系统分析和控制.武汉:华中科技大学, 2009.
[17] Willig, A., Matheus, K., Wolisz, A. A wireless technology in industrial networks. Proceedings of IEEE 2005, 93(6):1130-1151.
[18] Noury N, Herve T, Rialle V, et al. Monitoring behavior in home using a smart fall sensor. In Proceedings of the IEEE-EM BS Special Topic Conference on Microtechnologies in Medicine and Biology. Lyom IEEE Computer Society, 2000: 607-610.
[19]王凤朝,黄树采,韩朝超.多传感器信息融合及其新技术研究.航空计算技术, 2009, 1: 102-106.
[20]王洁.多传感器数据融合及其综合性能评估.南京:南京理工大学出版社, 2008.
[21]邓自立.最优滤波理论及应用——现代时间序列分析方法[M].哈尔滨:哈尔滨工业大学出版社,2000.
[22] Bar-Shalom Y. On the track-to-track correlation problem. IEEE Transactions on Automatic Control, 1981, 26(2):571-572.
[23] Beugnon, Singh C, Llinas T, J.Saha RK. Adaptive track fusion in multisensory environment. Proeedings of the Third International Conference on Information Fusion, 2000: TUC2/24-TUC22/31.
[24]朱茹.切换系统的分析与综合.武汉:华中科技大学, 2006.
[25] Liberzon, D. and A.S. Morse. Basic problems in stability and design of switched systems. IEEE Control Systems Magazine, 1999, 19(5): 59-70.
[26] Branicky MS. Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Transactions on Automatic Control, 1998, 43(4): 475-482.
[27] Hespanha, J.P. and A.S. Morse. Stability of switched systems with averagedwell-time. Proceedings of the 38th Conference on Decision and Control. Phoenix, Arizona: IEEE, 1999. 2655-2660.
[28] Hu B, Xu X, Michel A N, et al. Stability analysis for a class of nonlinear switched systems. Proceedings of the 38th Conference on Decision and Control. Phoenix, Arizona: IEEE, 1999. 4374-4379.
[29] Zhai G S, Hu B, Yasuda K, et al. Stability analysis of switched systems with stable and unstable subsystems: An average dwell time approach. New York: IEEE, 2000. 200-204.
[30] Michael S.B., Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Transaction on Automatic Control, 1998, 43(4):475-482.
[31] Willig A, Matheus K, Wolisz A. Wireless technology in industrial networks. Proceedings of the IEEE. 2005, 93(6): 1130-1151.
[32]尹慧琳,王磊,冯占军.无线传感器网络节点分布式信息融合算法研究.计算机工程与应用,2007, 43(17):18- 20.
[33]邓自立,祁荣宾.多传感器信息融合次优稳态kalman滤波.中国学术期刊文摘,2000,6(2): 183-184.
[34] Jamal Daafouz, Pierre Riddinger and Claue Iung. Stability Analysis and Control Synthesis for Switched Systems:Aswitched Lyapunov fuction approach. IEEE Trans, on Automatic control, 2002,47(1): 1883-1887
[35]李德英,陈文萍,霍瑞龙等.无线传感器网络能量高效综述.计算机科学. 2008, 35(011): 8-12.
[36]郝志凯,王硕.无线传感器网络定位方法综述.华中科技大学学报(自然科学版), 2008, (S1): 224-227.
[37]刘林峰,金杉,无线传感器网络的拓扑控制算法综述.计算机科学, 2008(3): 6-12.
[38]陈雄,杜以书,唐国新.无线传感器网络的研究现状及发展趋势.系统仿真技术, 2005, 1(2): 67-73.
[39] Cao, X.. Building Environment Control with Wireless Sensor and Actuator Networks: Centralized versus Distributed. IEEE Transactions on Industrial Electronics, 2010, 57(11): 3596-3605.
[40] Schenato, L. Optimal sensor fusion for distributed sensors subject to random delay and packet loss. Proceedings of 46th Conference on Decision and Control. IEEE, 2007: 1547-1552.
[41] Goodwin, G.C., et al. Performance limitations for linear feedback systems in the presence of plant uncertainty. IEEE Transactions on Automatic Control, 2003, 48(8): 1312-1319.
[42] Braslavsky, J.H., et al. Feedback stabilization over signal to noise ratio constrained channels. IEEE Transactions on Automatic Control, 2009, 54(6): 1427-1427.
[2]李建中,高宏.无线传感器网络的研究进展.计算机研究与发展, 2008, 1: 1–15.
[3]唐启涛,陶滔.无线传感器网络综述.网络安全技术与应用, 2008, 2: 80–82.
[4] Yick J, Mukherjee B, Ghosal D. Wireless sensor network survey. Computer Networks, 2008, 52(12): 2292–2330.
[5] Akyildiz I, Su W, Sankarasubramaniam Y, et al. A survey on sensor networks. IEEE Communications Magazine, 2002, 40(8):102–114.
[6]崔莉等.无线传感器网络研究进展.计算机研究与发展, 2005, 1: 163-174.
[7]李晓维.无线传感器网络技术.北京:北京理工大学出版社, 2007.
[8] Royer EM, Toh CK . A review of current routing protocols for ad hoc mobile wireless networks. IEEE Personal Communications, 1999, 6(2): 46-55.
[9] Song Guo, Oliver Yang. QoS-aware minimum energy multicast tree construction in wireless ad hoc networks. Ad Hoc Networks, 2004, 2(3): 217-229.
[10]孙利民,李建中,陈渝等.无线传感器网络.北京:清华大学出版社, 2005, 9-11.
[11] K.D.Wong. Physical layer considerations for wireless sensor networking. International Conference on Networking, sensing and control. Taipei: IEEE, 2004. 1201-1206.
[12] L.C.Zhong, J.Rababy, C, L. Guo, et al. Data link layer design for wireless sensor networks. Communications for Network-Centric Operation. Creating the Information Force. Washington: 2001.
[13] Q.F.Jiang, D.Manivannan. Routing protocols for sensor networks. The 1st IEEE Consumer and Communications and Networking Conference. Las Vegas NV, USA: 2004.
[14] J.Elson, D.Estrin. Time synchronization for wireless sensor network. In Proceedingsof the 15th Parallel and Distributed Processing Symposium. San Francisco: IEEE Computer Society: 2001. 1965-1970.
[15] A.Sinha, A.Chandraksan. Dynamic power management in wireless sensor networks. Design & Test of Computers, 2001, 18(2): 62-74.
[16]杨春曦.基于随机切换的网络系统分析和控制.武汉:华中科技大学, 2009.
[17] Willig, A., Matheus, K., Wolisz, A. A wireless technology in industrial networks. Proceedings of IEEE 2005, 93(6):1130-1151.
[18] Noury N, Herve T, Rialle V, et al. Monitoring behavior in home using a smart fall sensor. In Proceedings of the IEEE-EM BS Special Topic Conference on Microtechnologies in Medicine and Biology. Lyom IEEE Computer Society, 2000: 607-610.
[19]王凤朝,黄树采,韩朝超.多传感器信息融合及其新技术研究.航空计算技术, 2009, 1: 102-106.
[20]王洁.多传感器数据融合及其综合性能评估.南京:南京理工大学出版社, 2008.
[21]邓自立.最优滤波理论及应用——现代时间序列分析方法[M].哈尔滨:哈尔滨工业大学出版社,2000.
[22] Bar-Shalom Y. On the track-to-track correlation problem. IEEE Transactions on Automatic Control, 1981, 26(2):571-572.
[23] Beugnon, Singh C, Llinas T, J.Saha RK. Adaptive track fusion in multisensory environment. Proeedings of the Third International Conference on Information Fusion, 2000: TUC2/24-TUC22/31.
[24]朱茹.切换系统的分析与综合.武汉:华中科技大学, 2006.
[25] Liberzon, D. and A.S. Morse. Basic problems in stability and design of switched systems. IEEE Control Systems Magazine, 1999, 19(5): 59-70.
[26] Branicky MS. Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Transactions on Automatic Control, 1998, 43(4): 475-482.
[27] Hespanha, J.P. and A.S. Morse. Stability of switched systems with averagedwell-time. Proceedings of the 38th Conference on Decision and Control. Phoenix, Arizona: IEEE, 1999. 2655-2660.
[28] Hu B, Xu X, Michel A N, et al. Stability analysis for a class of nonlinear switched systems. Proceedings of the 38th Conference on Decision and Control. Phoenix, Arizona: IEEE, 1999. 4374-4379.
[29] Zhai G S, Hu B, Yasuda K, et al. Stability analysis of switched systems with stable and unstable subsystems: An average dwell time approach. New York: IEEE, 2000. 200-204.
[30] Michael S.B., Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Transaction on Automatic Control, 1998, 43(4):475-482.
[31] Willig A, Matheus K, Wolisz A. Wireless technology in industrial networks. Proceedings of the IEEE. 2005, 93(6): 1130-1151.
[32]尹慧琳,王磊,冯占军.无线传感器网络节点分布式信息融合算法研究.计算机工程与应用,2007, 43(17):18- 20.
[33]邓自立,祁荣宾.多传感器信息融合次优稳态kalman滤波.中国学术期刊文摘,2000,6(2): 183-184.
[34] Jamal Daafouz, Pierre Riddinger and Claue Iung. Stability Analysis and Control Synthesis for Switched Systems:Aswitched Lyapunov fuction approach. IEEE Trans, on Automatic control, 2002,47(1): 1883-1887
[35]李德英,陈文萍,霍瑞龙等.无线传感器网络能量高效综述.计算机科学. 2008, 35(011): 8-12.
[36]郝志凯,王硕.无线传感器网络定位方法综述.华中科技大学学报(自然科学版), 2008, (S1): 224-227.
[37]刘林峰,金杉,无线传感器网络的拓扑控制算法综述.计算机科学, 2008(3): 6-12.
[38]陈雄,杜以书,唐国新.无线传感器网络的研究现状及发展趋势.系统仿真技术, 2005, 1(2): 67-73.
[39] Cao, X.. Building Environment Control with Wireless Sensor and Actuator Networks: Centralized versus Distributed. IEEE Transactions on Industrial Electronics, 2010, 57(11): 3596-3605.
[40] Schenato, L. Optimal sensor fusion for distributed sensors subject to random delay and packet loss. Proceedings of 46th Conference on Decision and Control. IEEE, 2007: 1547-1552.
[41] Goodwin, G.C., et al. Performance limitations for linear feedback systems in the presence of plant uncertainty. IEEE Transactions on Automatic Control, 2003, 48(8): 1312-1319.
[42] Braslavsky, J.H., et al. Feedback stabilization over signal to noise ratio constrained channels. IEEE Transactions on Automatic Control, 2009, 54(6): 1427-1427.