Controlling distributed parameter systems using mobile actuator-plus-sensor networks

This paper proposes a stable scheme for the guidance of a mobile actuator/sensor network utilized for the performance enhancement of PDEs. The class of systems is governed by diffusion PDEs equipped with actuators having a box spatial distribution and a collocated sensing device that provides the spatially averaged state measurement over the range of the actuating device. Using Lyapunov stability arguments, a stable guidance scheme is provided for each of the mobile agents. Extensive numerical simulations for both a 1D and a 2D PDEs are included to demonstrate the effectiveness of a such a mobile actuator/sensor network in suppressing the effects of disturbances and enhancing the system's performance.