Energy Optimal Control in Mobile Sensor Networks Using Hybrid Systems Theory

被引：0
|
作者：
Yu, Shengwei [1 ]
Lee, C. S. George [1 ]
Hu, Jianghai [1 ]
机构：
[1] Purdue Univ, Sch Elect & Comp Engn, W Lafayette, IN 47907 USA
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC) | 2011年
关键词：
Mobile ad hoc network; energy optimization; optimal control; hybrid control systems; distributed algorithm;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper studies optimal control in a sensor network system consisting of mobile robots to minimize the overall energy consumption of the whole network. With communication energy cost and mobility energy cost taken into consideration, the problem is formulated as an optimal control of a hybrid system, which is solved by switched Linear Quadratic Regulator (LQR). Though switched LQR obtains globally optimal solution, the computational complexity is too high to implement the algorithm when the control horizon expands. For this reason, we resort to a switched system version of Receding Horizon Control (RHC), which is stable and provides a solution close to the optimal one. Finally, in order to attenuate the complexity due to the large networked system, the centralized RHC is modified into a distributed algorithm, which converges to a solution that can approximate the optimizer quite well as verified by simulations.
引用
收藏
页码：1975 / 1980
页数：6
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