Optimal dynamic actuator location in distributed feedback control of a diffusion process

Abstract

In this paper, the problem of distributed neutralisation of toxic 2D diffusion process is discussed. The diffusion process is modelled by a parabolic partial differential equation system. A group of mobile robots which can release neutralising chemicals are sent to detoxify the pollution. We attempt to solve the optimal actuator location problem by using Centroidal Voronoi Tessellations (CVT). A new simulation platform (Diff-MAS2D) for measurement scheduling and controls in distributed parameter systems is also introduced in this paper. Simulation results show the effectiveness of our proposed method.