Book ChapterDOI
Cross-layer Design of Control over Wireless Networks
Xiangheng Liu,Andrea Goldsmith +1 more
- pp 111-136
TLDR
This work proves the separation of estimation and control under certain assumptions of the network and shows that the Kalman filter can be modified to generate the optimal state estimate when part or all of the observation is lost.Abstract:
We consider a set of networked controllers where multiple control systems coexist with their control loops closed over a shared wireless network that induces random delays and packet losses. This system requires a joint design of the wireless network and the controllers, where the design objective is to optimize the control performance. This performance is a complex function of the controller design and the network parameters, such as throughput, packet delay and packet loss probability. Random delays and packet losses in the feedback loop impose new challenges on the optimal controller design. We first investigate controller design with randomly dropped packets. We prove the separation of estimation and control under certain assumptions of the network and show that the Kalman filter can be modified to generate the optimal state estimate when part or all of the observation is lost. The wireless network needs to provide a sufficient throughput for each of the sensor measurements in order to guarantee the stability of the Kalman filter. We then focus on the wireless network design for this controller. The goal of optimizing the control performance imposes implicit tradeoffs on the wireless network design as opposed to the explicit tradeoffs typical in wireless data and voice applications. Specifically, the tradeoffs between network throughput, time delay and packet loss probability are intricate and implicit in the control performance index, which complicates network optimization. We show that this optimization requires a cross-layer design framework, and propose such a framework for a broad class of networked control applications. We then illustrate this framework by a cross-layer optimization of the link layer, MAC layer, and sample period selection in a double inverted pendulum system.read more
Citations
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Journal ArticleDOI
Real-Time Wireless Sensor-Actuator Networks for Industrial Cyber-Physical Systems
Chenyang Lu,Abusayeed Saifullah,Bo Li,Mo Sha,Humberto Gonzalez,Dolvara Gunatilaka,Chengjie Wu,Lanshun Nie,Yixin Chen +8 more
TL;DR: A series of recent advances in real-time WSANs for industrial control systems are reviewed, with a focus on cyber-physical codesign of wireless control systems that integrate wireless and control designs.
Journal ArticleDOI
Control Over Imperfect Networks: Model-Based Predictive Networked Control Systems
TL;DR: This paper describes MBPNCS and introduces a stability criterion, followed by computer simulations and experiments involving the speed control of a dc motor and shows that considerable improvement over performance is achieved with respect to an event-based NCS.
Journal ArticleDOI
Optimal linear LQG control over lossy networks without packet acknowledgment
TL;DR: This paper is concerned with control applications over lossy data networks, and the discrete‐time linear quadratic Gaussian (LQG) optimal control problem is considered.
Journal ArticleDOI
LQG control over lossy TCP-like networks with probabilistic packet acknowledgements
TL;DR: This paper can show how the partial loss of acknowledgements makes the optimal control law a nonlinear function of the information set and compute the optimal controller and show that the stability range increases monotonically with the arrival rate of the acknowledgement packets.
Journal ArticleDOI
Adaptive consensus algorithms for real-time operation of multi-agent systems affected by switching network events
Filiberto Munoz,Eduardo Steed Espinoza Quesada,Hung Manh La,Sergio Salazar,Sesh Commuri,Luis Rodolfo Garcia Carrillo +5 more
TL;DR: In this paper, a control strategy based on distributed adaptive leader-follower consensus algorithms for multi-agent systems (MAS) affected by switching network events is proposed, which allows each agent in the MAS to compute its own control input based on local information and information coming from its neighbors.
References
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Book
Matrix Analysis
Roger A. Horn,Charles R. Johnson +1 more
TL;DR: In this article, the authors present results of both classic and recent matrix analyses using canonical forms as a unifying theme, and demonstrate their importance in a variety of applications, such as linear algebra and matrix theory.
Book
Wireless Communications: Principles and Practice
TL;DR: WireWireless Communications: Principles and Practice, Second Edition is the definitive modern text for wireless communications technology and system design as discussed by the authors, which covers the fundamental issues impacting all wireless networks and reviews virtually every important new wireless standard and technological development, offering especially comprehensive coverage of the 3G systems and wireless local area networks (WLANs).
Journal ArticleDOI
Kalman filtering with intermittent observations
Bruno Sinopoli,Luca Schenato,Massimo Franceschetti,Kameshwar Poolla,Michael I. Jordan,S. Shankar Sastry +5 more
TL;DR: This work addresses the problem of performing Kalman filtering with intermittent observations by showing the existence of a critical value for the arrival rate of the observations, beyond which a transition to an unbounded state error covariance occurs.
Book
Optimal Sampled-Data Control Systems
Tongwen Chen,Bruce A. Francis +1 more
TL;DR: This paper proposes a direct attack in the continuous-time domain, where sampled-data systems are time-varying.