一类活动边界分布参数系统的移动控制策略
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摘要
针对一类具有活动边界的分布参数系统,考虑移动传感器/执行器的动力学行为,研究其移动控制问题.考虑并列的传感器/执行器,通过传感器对系统的状态进行测量并将测量值传递给执行装置中的控制器.根据传感器之间不同的信息传递方式分别设计相应的控制器,基于无穷维抽象发展方程理论和Lyapunov方法得到相应的移动控制策略,并证明所提出的移动控制策略与系统的活动边界之间的关系.最后通过仿真结果验证所提出策略的有效性.
A mobile control problem is studied for a class of distributed parameter systems with moving boundaries under the condition of dynamic behaviors of mobile sensors/actuators. The collocated sensor/actuator networks are considered,the measurements of the systems are obtained by sensors and are dispensed to controllers which are equipped on actuating devices. Appropriate controllers are designed according to different modes of messaging of the sensors. A corresponding mobile strategy of the sensor/actuator is presented based on the infinite dimensional abstract evolution equation theory and the Lyapunov's method. Furthermore, the relations between the proposed mobile policy and the moving boundary are proven. Simulation results show that the proposed policy is effective.
A mobile control problem is studied for a class of distributed parameter systems with moving boundaries under the condition of dynamic behaviors of mobile sensors/actuators. The collocated sensor/actuator networks are considered,the measurements of the systems are obtained by sensors and are dispensed to controllers which are equipped on actuating devices. Appropriate controllers are designed according to different modes of messaging of the sensors. A corresponding mobile strategy of the sensor/actuator is presented based on the infinite dimensional abstract evolution equation theory and the Lyapunov's method. Furthermore, the relations between the proposed mobile policy and the moving boundary are proven. Simulation results show that the proposed policy is effective.
引文
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[11]Demetriou M A.Simplified controller design for distributed parameter systems using mobile actuator with augmented vehicle dynamics dynamics[C].Proc of the American Control Conf.San Francisco:IEEE,2011:3140-3145.
[12]江正仙,崔宝同,楼旭阳,等.基于防碰撞的移动SAN对分布参数系统的控制[J].控制与决策,2014,29(12):2242-2246.(Jiang Z X,Cui B T,Lou X Y,et al.Controlling distributed parameter systems utilizing mobile sensor-actuator networks with guaranteed collision avoidance[J].Control and Decision,2014,29(12):2242-2246.)
[13]Christofides P D.Nonlinear and robust control of parabolic PDE systems with time-dependent spatial domains[J].Automatica,2001,37(1):61-69.
[14]Ng J,Aksikas I,Dubljevic S.Control of parabolic PDEs with time-varying spatial domain:Czochralski crystal growth process[J].Int J of Control,2013,86(9):1-12.
[15]Cai X,Krstic M.Nonlinear control under wave actuator dynamics with time-and state-dependent moving boundary[J].Int J of Robust and Nonlinear Control,2015,25(2):222-251.
[16]Knobloch E,Krechetnikov R.Problems on time-varying domains:Formulation,dynamics,and challenges[J].Acta Applicandae Mathematicae,2015,137(1):123-157.
[2]娄柯,崔宝同,李纹.基于蜂拥控制的移动传感器网络目标跟踪算法[J].控制与决策,2013,28(11):1637-1642.(Lou K,Cui B T,Li W.Target tracking algorithm of mobile sensor networks based on flocking control[J],Control and Decision,2013,28(11):1637-1642.)
[3]李世华,田玉平.移动小车的轨迹跟踪控制[J].控制与决策,2000,15(5):626-628.(Li S H,Tian Y P.Tracking control of mobile robots[J].Control and Decision,2000,15(5):626-628.)
[4]Demetriou M A,Kazantzis N.A new actuator activation policy for performance enhancement of controlled diffusion processes[J].Automatica,2004,40(3):415-421.
[5]刘屿,邬依林,赵志甲.大加减速轴向移动系统鲁棒边界控制[J].控制与决策,2014,29(10):1771-1776.(Liu Y,Wu Y L,Zhao Z J.Robust boundary control of an axially moving system with high acdeceleration[J],Control and Decision,2014,29(10):1771-1776.)
[6]Butkovskiˇ?A G,Pustyl’nikova E I.Theory of mobile control of distributed parameter systems[J].Automatation and Remote Control,1980,41(6):741-747.
[7]Khapalov A Y.Continuous observability for parabolic system under observations of discrete type[J].IEEE Trans on Automatic Control,1993,38(9):1388-1391.
[8]Khapalov A Y.Controllability of the wave equation with moving point control[J].Applied Mathematics and Optimization,1995,31(2):155-175.
[9]Liang J,Chen Y Q.Diff/Wave-MAS2D:A simulation platform for measurement and actuation scheduling in distributed parameter systems with mobile actuators and sensors[C].Proc of the IEEE Int Conf on Mechatronics and Automation.Niagara Falls:IEEE,2005:2228-2233.
[10]Demetriou M A.Guidance of mobile actuator-plus-sensor networks for improved control and estimation of distributed parameter systems[J].IEEE Trans on Automatic Control,2010,55(7):1570-1584.
[11]Demetriou M A.Simplified controller design for distributed parameter systems using mobile actuator with augmented vehicle dynamics dynamics[C].Proc of the American Control Conf.San Francisco:IEEE,2011:3140-3145.
[12]江正仙,崔宝同,楼旭阳,等.基于防碰撞的移动SAN对分布参数系统的控制[J].控制与决策,2014,29(12):2242-2246.(Jiang Z X,Cui B T,Lou X Y,et al.Controlling distributed parameter systems utilizing mobile sensor-actuator networks with guaranteed collision avoidance[J].Control and Decision,2014,29(12):2242-2246.)
[13]Christofides P D.Nonlinear and robust control of parabolic PDE systems with time-dependent spatial domains[J].Automatica,2001,37(1):61-69.
[14]Ng J,Aksikas I,Dubljevic S.Control of parabolic PDEs with time-varying spatial domain:Czochralski crystal growth process[J].Int J of Control,2013,86(9):1-12.
[15]Cai X,Krstic M.Nonlinear control under wave actuator dynamics with time-and state-dependent moving boundary[J].Int J of Robust and Nonlinear Control,2015,25(2):222-251.
[16]Knobloch E,Krechetnikov R.Problems on time-varying domains:Formulation,dynamics,and challenges[J].Acta Applicandae Mathematicae,2015,137(1):123-157.