A PDE Model Approach to Formation Control of Large-Scale Mobile Sensor Networks with Boundary Uncertainties

This paper investigates the formation problem of an array of large-scale mobile sensor networks. A new framework for the dynamic of mobile sensors as a continuum described by the parabolic system with boundary disturbance is proposed. The communication topology of agents is a chain graph and fixed. Leader feedback laws which are designed in a manner to the boundary control of large-scale mobile sensor networks allow the mobile sensors to achieve the formation steadily. By referring to the Lyapunov functional method and employing a boundary control approach, a new protocol is established to deal with a formation problem for the large-scale mobile sensor networks. Finally, numerical examples are given to illustrate the usefulness of the results.