Event-triggered control of spatially distributed processes via unmanned aerial vehicle

Xuyang Lou,Zhengxian Jiang

doi:10.1177/1729881416675138

Xuyang Lou, Zhengxian Jiang

Open Access

https://doi.org/10.1177/1729881416675138

Copy DOI

Abstract

This article concerns the problem of event-triggered observer-based output feedback control of spatially distributed processes under the autonomous operation of an unmanned aerial vehicle. The specific spatially distributed process is modeled within the distributed parameter systems framework. To control the considered distributed parameter system efficiently, we first estimate the states with an observer based on the measurement information from sensors. Then, an event-triggered observer-based controller is designed, which can reduce the frequency of signal transmissions between the observer and the controller. In contrast to normal sampled-data controller that is updated periodically, the event-triggered controller is updated only when an “event” happens. Moreover, the Zeno behavior is also excluded by proving there exists a lower bound for interexecution time. Numerical simulations are finally presented to illustrate the effectiveness of the proposed control method.

Highlights

Over the past few years, research on sensor networks have attracted increasing attention from many researchers in control fields.[1,2,3] In particular, estimation and control in sensor networks are of significant importance and have received many attempts.[2,4,5] Note that the available techniques are suitable for finite dimensional systems, which are modeled by ordinary differential equations
Many engineering systems belong to spatially distributed processes with states evolving along both time and space, which are commonly described by distributed parameter systems (DPSs).[6]
In the study by Kim and Bentsman,[7] two robust control laws were employed to stabilize a class of DPSs with spatially varying parameters and distributed sensing and actuation to encompass disturbance rejection capability were explored

Summary

Introduction

Over the past few years, research on sensor networks have attracted increasing attention from many researchers in control fields.[1,2,3] In particular, estimation and control in sensor networks are of significant importance and have received many attempts.[2,4,5] Note that the available techniques are suitable for finite dimensional systems, which are modeled by ordinary differential equations. Compared to time-triggered periodic control, the EC possesses the prominent advantage of reducing communications.[13] The important technology of sensor/actuator networks, consisting of flight vehicles[20,21] or mobile agents,[18,19] provides radically new communication and networking paradigms with many new application.[22] most of the achievements focus on finite dimensional dynamical systems, the mathematical models of which are expressed by the ordinary differential equations, while research on the problem of EC for DPSs with guidance of unmanned aerial vehicle (UAV) or mobile actuators are rare. The primary goal of this article is to discuss the estimation and control problem in spatially distributed processes under the autonomous operation of a UAV and handle the problem through an event-triggered observerbased output feedback control strategy providing additional flexibility and improvement in communication. The fifth section addresses numerical simulations where the proposed control method is compared to the normal sampled-data control (SC), and conclusion remarks are given in the last section

Mathematical formulation

State estimation process and eventtriggered controller

Main results

EC scheme

Event instants

Conclusions