Design of State-Based Schedulers for a Network of Control Loops

DOI10.1109/TAC.2013.2251791MaRDI QIDQ5353295zbMATH OpenOpenAlexWikidataFDO

Authors Chithrupa Ramesh, Henrik Sandberg, Karl Henrik Johansson

Publication date 8 September 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1203.0030

Mathematics Subject Classification ID

Stochastic scheduling theory in operations research (90B36) Control/observation systems involving computers (process control, etc.) (93C83) Optimal stochastic control (93E20)

Abstract: For a closed-loop system, which has a contention-based multiple access network on its sensor link, the Medium Access Controller (MAC) may discard some packets when the traffic on the link is high. We use a local state-based scheduler to select a few critical data packets to send to the MAC. In this paper, we analyze the impact of such a scheduler on the closed-loop system in the presence of traffic, and show that there is a dual effect with state-based scheduling. In general, this makes the optimal scheduler and controller hard to find. However, by removing past controls from the scheduling criterion, we find that certainty equivalence holds. This condition is related to the classical result of Bar-Shalom and Tse, and it leads to the design of a scheduler with a certainty equivalent controller. This design, however, does not result in an equivalent system to the original problem, in the sense of Witsenhausen. Computing the estimate is difficult, but can be simplified by introducing a symmetry constraint on the scheduler. Based on these findings, we propose a dual predictor architecture for the closed-loop system, which ensures separation between scheduler, observer and controller. We present an example of this architecture, which illustrates a network-aware event-triggering mechanism.

Cited in

(9)

• Random access design for wireless control systems
• Improved results on transmission power control for remote state estimation
• Scheduling networked state estimators based on value of information
• Pulse width modulation for multi-agent systems
• Try-once-discard scheduling for stochastic networked control systems
• Current trends and future directions in event-based control
• Co-design of stabilisation and transmission scheduling for wireless control systems
• Fault detection filter design for networked control systems with time-varying sampling periods and packet dropouts
• Event-based networked control and scheduling codesign with guaranteed performance

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