Node coordination mechanism based on distributed estimation and control in wireless sensor and actuator networks

Abstract

Wireless sensor and actuator networks (WSANs) have a wide range of applications. To perform effective sensing and acting tasks, multiple coordination mechanisms among the nodes are required. As attempt in this direction, this paper describes collaborative estimation and control algorithms design for WSANs. First, a sensor-actuator coordination model is proposed based on distributed Kalman filter in federated configuration. This method provides the capability of fault tolerance and multi-source information fusion. On this basis, an actuator-actuator coordination model based on even-driven task allocation is introduced. Actuators utilize fused sensory information to adjust their action that incur the minimum energy cost to the system subject to the constraints that user’s preferences regarding the states of the system are approximately satisfied. Finally, according to system requirements, a distributed algorithm is proposed to solve the task allocation problem. Simulations demonstrate the effectiveness of our proposed methods.