Coverage Control for Mobile Sensor Networks With Double-Integrator Dynamics and Unknown Disturbances

In this article, coverage control for mobile sensors with double-integrator dynamics and different maximum velocities on a circle is investigated. A generalized energy function is introduced in the proposed coverage control laws to guarantee order preservation of the sensors despite of the existence of unknown but bounded disturbances. The velocity constraint of each sensor is shown to be always satisfied throughout the coverage task. It is shown that the sensor network can be driven to a neighborhood of the optimal configuration minimizing the coverage cost function and an upper bound on the coverage cost function when time goes to infinity is also provided. Finally, a simulation example is given to illustrate the effectiveness of the proposed coverage control laws.