中文摘要：

无线传感器和致动器网络(WSAN ) 有大量应用。执行任务的有效察觉到并且行动，在节点之中的多重协作机制被要求。作为在这个方向的尝试，这份报纸为 WSAN 描述合作评价和控制算法设计。首先，一个传感器致动器协作模型在联合配置基于分布式的 Kalman 过滤器被建议。这个方法提供容错和多来源信息熔化的能力。在这个基础上，一个致动器致动器协作模型基于平开车的任务分配被介绍。致动器利用熔化感觉信息调整他们行动招致最小的精力费用到系统题目到关于系统的状态的用户偏爱近似满足的限制。根据系统要求，最后，一个分布式的算法被建议解决任务分配问题。模拟表明我们的建议方法的有效性。

英文摘要：

Wireless sensor and actuator networks （WSANs） have a wide range of applications. To perform effective sensing and acting tasks, multiple coordination mechanisms among the nodes are required. As attempt in this direction, this paper describes collaborative estimation and control algorithms design for WSANs. First, a sensor-actuator coordination model is proposed based on distributed Kalman filter in federated configuration. This method provides the capability of fault tolerance and multi-source information fusion. On this basis, an actuator-actuator coordination model based on even-driven task allocation is introduced. Actuators utilize fused sensory information to adjust their action that incur the minimum energy cost to the system subject to the constraints that user＇s preferences regarding the states of the system are approximately satisfied. Finally, according to system requirements, a distributed algorithm is proposed to solve the task allocation problem. Simulations demonstrate the effectiveness of our proposed methods.