DocumentCode :
1599646
Title :
Closing the loop: A simple distributed method for control over wireless networks
Author :
Pajic, Miroslav ; Sundaram, Suresh ; Le Ny, Jerome ; Pappas, G.J. ; Mangharam, Rahul
Author_Institution :
Dept. of Electr. & Syst. Eng, Univ. of Pennsylvania, Philadelphia, PA, USA
fYear :
2012
Firstpage :
25
Lastpage :
36
Abstract :
We present a distributed scheme used for control over a network of wireless nodes. As opposed to traditional networked control schemes where the nodes simply route information to and from a dedicated controller (perhaps performing some encoding along the way), our approach, Wireless Control Network (WCN), treats the network itself as the controller. In other words, the computation of the control law is done in a fully distributed way inside the network. We extend the basic WCN strategy, where at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. This causes the entire network to behave as a linear dynamical system, with sparsity constraints imposed by the network topology. We demonstrate that with observer style updates, the WCN´s robustness to link failures is substantially improved. Fur-thermore, we show how to design a WCN that can maintain stability even in cases of node failures. We also address the problem of WCN synthesis with guaranteed optimal performance of the plant, with respect to standard cost functions. We extend the synthesis procedure to deal with continuous-time plants and demonstrate how the WCN can be used on a practical, industrial application, using a process-in-the-loop setup with real hardware.
Keywords :
continuous time systems; distributed parameter systems; linear systems; networked control systems; observers; stability; telecommunication network routing; telecommunication network topology; wireless sensor networks; WCN synthesis; continuous-time plants; control law computation; distributed method; information routing; linear dynamical system; link failures; network topology; observer style updates; process-in-the-loop setup; sparsity constraints; stability; wireless control network; wireless nodes; wireless sensor networks; Closed loop systems; Standards; Synchronization; Vectors; Wireless networks; Wireless sensor networks; Cooperative control; decentralized control; networked control systems; wireless sensor networks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Information Processing in Sensor Networks (IPSN), 2012 ACM/IEEE 11th International Conference on
Conference_Location :
Beijing
Type :
conf
DOI :
10.1109/IPSN.2012.6920940
Filename :
6920940
Link To Document :
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