Distributed estimation and control over mobile sensor networks with jointly connected topology: Event-triggered approach

Abstract

This article deals with the problem of distributed event-triggered tracking control in mobile sensor networks (MSNs) with a jointly connected topology (JCT). Two schemes are proposed for linear and Lipschitz nonlinear MSNs to estimate and track a mobile target. The proposed schemes are established using an event-triggered method to avoid continuous exchange of information between sensor nodes. In comparison with the other research under event-triggered communication strategies where states of the target are available, this paper considers that the states of the target are not available and two event-triggered algorithms are established for sensor nodes to estimate and follow the states of the continuous-time targets that can be seen in various real-world applications. Also, the proposed schemes are designed for the JCT with disconnected graphs which means the communication topology of the MSN is not required to be connected for all time instants. By employing the Cauchy convergence criterion and a common Lyapunov function, sufficient conditions are also established to ensure event-based tracking control subject to JCT. The effectiveness of the proposed work is verified by presenting simulation examples.