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Anytime Control under Practical Communication Model

Wanchun Liu, Daniel E. Quevedo, Yonghui Li, Branka Vucetic

TL;DR

A novel cycle-cost-based approach is developed to obtain the stability conditions on the nonlinear plant, controller, network, and computational resources.

Abstract

We investigate a novel anytime control algorithm for wireless networked control with random dropouts. The controller computes sequences of tentative future control commands using time-varying (Markovian) computational resources. The sensor-controller and controller-actuator channel states are spatial- and time-correlated, and are modeled as a multi-state Markov process. To compensate for the effect of packet dropouts, a dual-buffer mechanism is proposed. We develop a novel cycle-cost-based approach to obtain the stability conditions on the nonlinear plant, controller, network and computational resources.

Anytime Control under Practical Communication Model

TL;DR

A novel cycle-cost-based approach is developed to obtain the stability conditions on the nonlinear plant, controller, network, and computational resources.

Abstract

We investigate a novel anytime control algorithm for wireless networked control with random dropouts. The controller computes sequences of tentative future control commands using time-varying (Markovian) computational resources. The sensor-controller and controller-actuator channel states are spatial- and time-correlated, and are modeled as a multi-state Markov process. To compensate for the effect of packet dropouts, a dual-buffer mechanism is proposed. We develop a novel cycle-cost-based approach to obtain the stability conditions on the nonlinear plant, controller, network and computational resources.

Paper Structure

This paper contains 11 sections, 8 theorems, 78 equations, 4 figures.

Table of Contents

  1. Introduction
  2. Anytime Control in a Dual-Channel-Dual-Buffer WNCS
  3. Dual Markov Fading Channels
  4. Anytime Control with Dual Buffers
  5. Stability of the Anytime Control System
  6. Properties of $\{Z\}_{\mathbb{N}_0}$ and $\{Z(k_n)\}_{n\in\mathbb{N}_0}$
  7. Analysis of the Stability Condition
  8. Numerical Example for Stability Condition Calculation
  9. Robustness to Process Noise
  10. Simulation Results
  11. Conclusions

Key Result

Lemma 1

Consider Assumptions assump:BBN and assump:initial. Then $\{Z\}_{\mathbb{N}_0}$ is an IA Markov process.

Figures (4)

  • Figure 1: The dual-channel-dual-buffer WNCS.
  • Figure 2: A communications-computing-control process.
  • Figure 3: An illustration of the state transition process of $\{Z\}_{\mathbb{N}_0}$.
  • Figure 4: Simulation of $|\mathbf{x}(t)|$ with different initiations.

Theorems & Definitions (21)

  • Definition 1
  • Remark 1
  • Lemma 1
  • proof
  • Lemma 2
  • proof
  • Lemma 3
  • proof
  • Lemma 4
  • proof
  • ...and 11 more