Adaptive Control of 2-D PDEs Using Mobile Collocated Actuator/Sensor Pairs With Augmented Vehicle Dynamics

The main focus of this work is on the inclusion of vehicle dynamics for the control of spatially distributed processes utilizing mobile actuators and sensors. It is assumed that spatially collocated actuator/sensor pairs, affixed on vehicles, are capable of moving within the spatial domain and a com...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2012-12, Vol.57 (12), p.2979-2993
Main Author: Demetriou, M. A.
Format: Article
Language:English
Subjects:
Actuators
Adaptative systems
Adaptive control
Applied sciences
Computer science
control theory
systems
Computer systems and distributed systems. User interface
Control system synthesis
Control theory. Systems
distributed parameter systems
Dynamics
Exact sciences and technology
Inclusions
Law
mobile actuator-sensor networks
Mobile communication
Partial differential equations
Process control
Robot sensing systems
Robotics
Robots
Sensors
Software
Studies
Vehicle dynamics
vehicle guidance
Vehicles
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Summary:The main focus of this work is on the inclusion of vehicle dynamics for the control of spatially distributed processes utilizing mobile actuators and sensors. It is assumed that spatially collocated actuator/sensor pairs, affixed on vehicles, are capable of moving within the spatial domain and a combined control law-plus-guidance law is proposed in order to better address the effects of spatiotemporally varying disturbances. The proposed control architecture is simplified by using static output feedback combined with adaptation of the feedback gains. A Lyapunov redesign approach is employed to derive the guidance laws via the appropriate use of the vehicle control torques. Such guidance laws are gradient-based and tend to move the vehicle to spatial locations with large spatial gradients. The novelty here is that vehicle dynamics are directly coupled to the process dynamics and their motion is solely and explicitly dictated by the control performance of the spatially distributed process. Extensive numerical studies of a 2-D diffusion PDE with a mobile robot are included and which demonstrate the effectiveness of the proposed combined control law-plus-guidance law.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2012.2196402