Stochastic sufficient optimality conditions for motion control of a group of flying information and telecommunication robots under full state vector information
DOI:
https://doi.org/10.34121/1028-9763-2026-3-13Keywords:
wireless sensor networks, mobile sensors, stochastic composite dynamic system, stochastic sufficient optimality conditions for control, flying information and telecommunication robotsAbstract
The problem of optimal motion control for a group of flying information and telecommunication robots (FITRs) operating under stochastic disturbances has been solved by formulating and proving a theorem on stochastic sufficient optimality conditions. In the proof of the theorem, the real control object, namely the FITR group, has been modeled as a composite dynamic system (CDS). In deriving the stochastic sufficient conditions for optimality, it has been assumed that all components of the stochastic CDS state vector are available for measurement and that the measurements are error-free. A distinctive feature of the problem statement considered in the paper is that no constraints are imposed on the motion of the constituent elements (blocks) of the system. Such CDS motion is commonly interpreted as the movement of its elements (blocks) along trajectories with arbitrary branching, which is characteristic of a stochastic swarm. An important applied theoretical contribution of the sufficient optimality conditions for controlling a stochastic swarm of information and telecommunication robots (a stochastic composite dynamic system) proved in the article is the formulation of a procedure that enables the solution of the optimal control problem for the motion of a stochastic swarm under arbitrary structural transformations of the swarm. The procedure is based on the assumption that the dimensionality of the state vector and the control vector of the stochastic composite dynamic system changes at the moments of structural transformations. It should be emphasized that at these moments, the dimensionality of the vectors describing the influence of external disturbances on the FITR also changes. After stochastic optimization of the control of the «consolidated» composite object over a given time interval, control is returned to each individual FITR within the consolidated group. Thus, the solution is represented in a form suitable for implementation on an onboard computer (microprocessor) of the individual FITR. The paper demonstrates the theoretical possibility of offline or online synthesis of individual optimal control for each FITR under stochastic disturbances. Refs.: 32 titles.
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