Stochastic Sensor Scheduling for Networked Control Systems

DOI10.1109/TAC.2014.2298733MaRDI QIDQ2983162zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Farhad Farokhi, Karl Henrik Johansson

Publication date 16 May 2017

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

Full work available at URL https://arxiv.org/abs/1209.5180

Mathematics Subject Classification ID

Decentralized systems (93A14) Optimal stochastic control (93E20) Stochastic scheduling theory in operations research (90B36) Control/observation systems involving computers (process control, etc.) (93C83)

Abstract: Optimal sensor scheduling with applications to networked estimation and control systems is considered. We model sensor measurement and transmission instances using jumps between states of a continuous-time Markov chain. We introduce a cost function for this Markov chain as the summation of terms depending on the average sampling frequencies of the subsystems and the effort needed for changing the parameters of the underlying Markov chain. By minimizing this cost function through extending Brockett's recent approach to optimal control of Markov chains, we extract an optimal scheduling policy to fairly allocate the network resources among the control loops. We study the statistical properties of this scheduling policy in order to compute upper bounds for the closed-loop performance of the networked system, where several decoupled scalar subsystems are connected to their corresponding estimator or controller through a shared communication medium. We generalize the estimation results to observable subsystems of arbitrary order. Finally, we illustrate the developed results numerically on a networked system composed of several decoupled water tanks.

Cited in

(8)

• Time-Varying Sensor and Actuator Selection for Uncertain Cyber-Physical Systems
• Communication parameter design for networked control systems with the slotted ALOHA access protocol
• A switching system approach to sensor and actuator assignment for stabilisation via limited multi-packet transmitting channels
• Active sensing policies for stochastic systems
• Optimal control of sampled‐data systems based on an optimized stochastic sampling
• Dual scheduling and quantised control for networked control systems with communication constraints
• Kalman filtering for linear singular systems subject to round-robin protocol
• Input-to-state stability for nonlinear systems with stochastic impulses

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