title: Distributed estimation and control for mobile sensor networks with coupling delays.
abstract: This paper deals with the issue of distributed estimation and control for mobile sensor networks with coupling delays. Based on the Kalman-Consensus filter and the flocking algorithm, all mobile sensors move to a target to increase the quality of gathered data, and achieve consensus on the estimation values of the target in the presence of time-delay and noises. By applying an effective cascading Lyapunov method and matrix theory, stability analysis is carried out. Furthermore, a necessary condition for the convergence is presented via the boundary conditions of feedback coefficients. Some numerical examples are provided to validate the effectiveness of theoretical results.
authors.affiliation: School of Automation, Image Processing and Intelligent Control Key Laboratory of Education Ministry of China, Huazhong University of Science and Technology, Wuhan 430074, China.
authors.forename: Housheng
authors.initials: H
authors.lastname: Su
authors.affiliation: School of Automation, Image Processing and Intelligent Control Key Laboratory of Education Ministry of China, Huazhong University of Science and Technology, Wuhan 430074, China.
authors.forename: Xuan
authors.initials: X
authors.lastname: Chen
authors.affiliation: Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China.
authors.forename: Michael Z Q
authors.initials: MZQ
authors.lastname: Chen
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing, China.
authors.forename: Lei
authors.initials: L
authors.lastname: Wang
keywords: Coupling delays; Flocking; Kalman-Consensus filter; Mobile sensor networks; Multi-agent system