Optimal control for multi-agent systems persistent monitoring with limited energy

被引：0
|
作者：
Liu, Zongzhe [1 ]
Song, Cheng [1 ]
Fan, Yuan [2 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China
[2] Anhui Univ, Sch Elect Engn & Automat, Hefei 230601, Anhui, Peoples R China
来源：
2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2018年
基金：
中国国家自然科学基金;
关键词：
MOBILE SENSOR NETWORKS; AWARENESS COVERAGE CONTROL; ALGORITHM;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies the optimal control for persistent monitoring, which aims to let multiple agents periodically patrol the mission domain along a given closed path to drive the uncertainty of all targets to zero. A necessary and sufficient condition that drives non-linear cumulative function to zero is derived. In this condition, different speed controllers are further designed by solving a linear program problem (LP). And a method that maximizes the working hours of the multiple agents with limited energy is developed by a LP. Finally, simulation results evaluate the effectiveness of the proposed optimal control law.
引用
收藏
页码：675 / 680
页数：6
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