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Volume 7 Issue 2
Mar.  2020

IEEE/CAA Journal of Automatica Sinica

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Juan Chen, Baotong Cui, YangQuan Chen and Bo Zhuang, "An Improved Cooperative Team Spraying Control of a Diffusion Process With a Moving or Static Pollution Source," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 494-504, Mar. 2020. doi: 10.1109/JAS.2019.1911519
Citation: Juan Chen, Baotong Cui, YangQuan Chen and Bo Zhuang, "An Improved Cooperative Team Spraying Control of a Diffusion Process With a Moving or Static Pollution Source," IEEE/CAA J. Autom. Sinica, vol. 7, no. 2, pp. 494-504, Mar. 2020. doi: 10.1109/JAS.2019.1911519

An Improved Cooperative Team Spraying Control of a Diffusion Process With a Moving or Static Pollution Source

doi: 10.1109/JAS.2019.1911519
Funds:  This work was partially supported by the National Natural Science Foundation of China (61473136, 61807016), the Fundamental Research Funds for the Central Universities (JUSRP51322B), the 111 Project (B12018), and Jiangsu Innovation Program for Graduates (KYLX15 1170)
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  • 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.

     

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    Highlights

    • Constructing a cyber-physical system framework based on centroidal Voronoi tessellations (CVTs).
    • Analyzing the convergence of the actuators location.
    • Developing a novel proportional integral (PI) control method for actuator motion planning.
    • Deriving optimal spraying control of a diffusion process with moving or static pollution sources.

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