An improved cooperative team spraying control of a diffusion process with a moving or static pollution source

Abstract

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 &#x0028 CVTs &#x0029 , the second is the convergence analysis of the actuators location, and the last is a novel proportional integral &#x0028 PI &#x0029 control method for actuator motion planning and neutralizing control &#x0028 e.g., spraying &#x0029 of a diffusion process with a moving or static pollution source, which is more effective than a proportional &#x0028 P &#x0029 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 &#x0028 Diff-MAS2D-PID &#x0029 is illustrated. In addition, a numerical simulation example for the diffusion process is presented to verify the effectiveness of our proposed controllers.