Consensus Control of mobile sensor networks with Markov switching topology under a given energy budget

This paper investigates consensus seeking of mobile sensor networks (MSNs) with random switching topologies under a given energy budget. The network topology by which the sensors communicate with each other at any time is a directed graph (or digraph) with a spanning tree. The switching of topology is governed by a Markov chain. A set of distributed switching controllers for consensus seeking is derived in the context of stochastic stability analysis of Markovian jump systems. This is realized by defining a topology-aware energy cost function of the sensors and reducing the initial MSN dynamics to a Markovian jump system via state transformation. The obtained control protocol is topology-aware and hence applicable to MSNs with Markov switching topology, as illustrated by a numerical example.