Co-design of safe and efficient networked control systems in factory automation with state-dependent wireless fading channels
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Publication:2280705
DOI10.1016/J.AUTOMATICA.2019.04.009zbMATH Open1429.93136arXiv1708.06468OpenAlexW2963199196MaRDI QIDQ2280705FDOQ2280705
Bin Hu, Jianlin Guo, Philip V. Orlik, Yebin Wang, Toshiaki Koike Akino
Publication date: 19 December 2019
Published in: Automatica (Search for Journal in Brave)
Abstract: In factory automation, heterogeneous manufacturing processes need to be coordinated over wireless networks to achieve safety and efficiency. These wireless networks, however, are inherently unreliable due to shadow fading induced by the physical motion of the machinery. To assure both safety and efficiency, this paper proposes a state-dependent channel model that captures the interaction between the physical and communication systems. By adopting this channel model, sufficient conditions on the maximum allowable transmission interval are then derived to ensure stochastic safety for a nonlinear physical system controlled over a state-dependent wireless fading channel. Under these sufficient conditions, the safety and efficiency co-design problem is formulated as a constrained cooperative game, whose equilibria represent optimal control and transmission power policies that minimize a discounted joint-cost in an infinite horizon. This paper shows that the equilibria of the constrained game are solutions to a non-convex generalized geometric program, which are approximated by solving two convex programs. The optimality gap is quantified as a function of the size of the approximation region in convex programs, and asymptotically converges to zero by adopting a branch-bound algorithm. Simulation results of a networked robotic arm and a forklift truck are presented to verify the proposed co-design method.
Full work available at URL: https://arxiv.org/abs/1708.06468
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Cooperative games (91A12) 2-person games (91A05) Application models in control theory (93C95) Stochastic systems in control theory (general) (93E03) Networked control (93B70)
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Cited In (5)
- Communication-protocol-based analysis and synthesis of networked systems: progress, prospects and challenges
- Analyzing the duration of success and failure in Markov-modulated Bernoulli processes
- Asynchronous dissipative control for nonhomogeneous Markov jump systems with dual Markovian wireless fading channels
- Adaptive event-triggered output feedback control for uncertain networked T-S fuzzy system with data loss and bounded disturbance: an efficient MPC strategy
- Adaptive event‐triggered efficient output feedback model predictive control for networked interval type‐2 T–S fuzzy system with data loss
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