A Multi-Quadcopter Cooperative Cyber-Physical System for Timely Air Pollution Localization
作者： Zhaoyan Shen , Zhijian He , Shuai Li , Qixin Wang , Zili Shao
DOI: 10.1145/3005716
关键词: Control (management) 、 Simulation 、 Control engineering 、 Cyber-physical system 、 Quadcopter 、 Decoupling (cosmology) 、 Multiple sensors 、 Motion control 、 Computer science 、 Vertical motion 、 Control theory
摘要: We propose a cyber-physical system of unmanned quadcopters to locate air pollution sources in timely manner. The consists physical part and cyber part. includes equipped with multiple sensors. carries out control laws. simplify the laws by decoupling quadcopters’ horizontal-plane motion from vertical control. To quadcopter’s motions, we controller that combines pollutant dynamics quadcopter physics. adopt an anti-windup proportional-integral (PI) controller. further extend single quadcopters. multi-quadcopter are distributed convergent. implement prototype carry experiments verify also simulations evaluate With parameters set commensurate our implementation’s, show can drive source(s) way.
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