An improved cooperative team spraying control of a diffusion process with a moving or static pollution source

This paper is concerned with a control problem of a diffusion process with the help of static mesh sensor networks in a certain region of interest and a team of networked mobile actuators carrying chemical neutralizers. The major contribution of this paper can be divided into three parts: the first is the construction of a cyber-physical system framework based on centroidal Voronoi tessellations ( CVTs ) , the second is the convergence analysis of the actuators location, and the last is a novel proportional integral ( PI ) control method for actuator motion planning and neutralizing control ( e.g., spraying ) of a diffusion process with a moving or static pollution source, which is more effective than a proportional ( P ) control method. An optimal spraying control cost function is constructed. Then, the minimization problem of the spraying amount is addressed. Moreover, a new CVT algorithm based on the novel PI control method, henceforth called PI-CVT algorithm, is introduced together with the convergence analysis of the actuators location via a PI control law. Finally, a modified simulation platform called diffusion-mobile-actuators-sensors-2-dimension-proportional integral derivative ( Diff-MAS2D-PID ) is illustrated. In addition, a numerical simulation example for the diffusion process is presented to verify the effectiveness of our proposed controllers.