In traditional wireless sensor networks (WSN), data is transmitted to base stations through multiple-hop. However, multi-hop transmission will cause problems such as energy holes, uneven energy consumption, and unreliable data transmission. Aiming at the defects of traditional networks, this paper proposes a scheme for collaborative data collection using multiple mobile nodes (MN) as sink nodes. In this scenario, an important issue is how to reasonably plan the data collection path of each mobile node under a series of constraints such as energy. This paper studies routing strategy and path planning. Firstly, a dynamic clustering algorithm is used to cluster the randomly arranged sensor nodes, and then a sensor node with higher energy is manually arranged at the virtual cluster center generated by the clustering algorithm as a cluster head node to establish a data collection cluster. Then the monitoring area is divided into several parts according to the number of MN, so that the MN traverses the cluster head nodes in the respective monitoring areas for data collection. At the same time, in order to enable the MN to complete data collection within the energy limit and improve the path balance, a path-based path equalization algorithm (PEABR) is proposed to adjust the path of the MN, further reduce and equalize the path length of the MN to satisfy the constraint conditions, and optimize the path planning scheme. Finally, simulation was carried out by using Matlab simulator, and the simulation experiments which were performed in a laboratory environment verified the feasibility and effectiveness of the algorithm.

The continuous development of spacecraft with large flexible structures has resulted in an increase in the mass and aspect ratio of launch vehicles, while the wide application of lightweight materials in the aerospace field has increased the flexible modes of launch vehicles. In order to solve the problem of deviation from the nominal control or even destabilization of the system caused by uncertainties such as unknown or unmodelled dynamics, frequency perturbation of the flexible mode, changes in its own parameters, and external environmental disturbances during the flight of such large-scale flexible launch vehicles with simultaneous structural deformation, rigid-elastic coupling and multimodal vibrations, an improved adaptive augmentation control method based on model reference adaption, and spectral damping is proposed in this paper, including a basic PD controller, a reference model, and an adaptive gain adjustment based on spectral damping. The baseline PD controller was used for flight attitude control in the nominal state. In the non-nominal state, the spectral dampers in the adaptive gain adjustment law extracted and processed the high-frequency signal from the tracking error and control-command error between the reference model and the actual system to generate the adaptive gain. The adjustment gain was multiplied by the baseline controller gain to increase/decrease the overall gain of the system to improve the system’s performance and robust stability, so that the system had the ability to return to the nominal state when it was affected by various uncertainties and deviated from the nominal state, or even destabilized.

The characteristic of a flexible system with weak damping is that the amplitude characteristics show a large change, and the situation on the Nyquist chart is extremely complicated. Due to the existence of weak damping, the perturbation range of the flexible modal parameters allowed by the system is greatly compressed, and the robust stability is reduced, which brings challenges to the control design. To deal with this problem, the traditional H-inf loop shaping method often leads to the controller instability and poor robustness. In order to improve the stability margin of the system, increase the robustness and stability, and solve the problem of the instability of H-infcontrollers, this paper proposes a robust comprehensive design method based on phase control. In this method, by using the closed-loop pole configuration corresponding to the flexible mode at low frequency, the phase control is realized. Through the phase control, the apex of the Nyquist curve of the weakly damped mode of the system is limited to the Right half plane. The H-inf weighting function relaxes the pole configuration requirements, reduces the conservativeness of strict positive real, and combines the phase control with the H-inf optimization solution to obtain a robust and self-stable H-inf controller. A specific design example is given. The simulation results show that this control method has extremely high robustness. This design example can provide a certain degree of robust design for other weakly damp.