DocumentCode :
728553
Title :
Robust event-based data scheduling for resource constrained Networked Control Systems
Author :
Mamduhi, Mohammad H. ; Tolic, Domagoj ; Hirche, Sandra
Author_Institution :
Inst. for Informationoriented Control, Tech. Univ. Munchen, Munich, Germany
fYear :
2015
fDate :
1-3 July 2015
Firstpage :
4695
Lastpage :
4701
Abstract :
This paper modifies a recently proposed event-based probabilistic medium access for multi-loop Networked Control Systems (NCSs) over a shared communication channel subject to limited capacity and uncertainties and study its robustness. The novel design combines deterministic and probabilistic attributes to efficiently allocate the channel access among the control loops in the presence of network-induced phenomena such as packet dropouts and scheduling with delayed information update. Since the scheduler receives error information from a number of systems simultaneously, this sheer amount of information cannot always be processed in timely manner, which in turn gives rise to delays. Given the local error thresholds, the subsystems with error values lower than their corresponding thresholds are deterministically excluded from the medium access competition in favor of those with larger errors. In case of resource scarcity, the scheduler probabilistically allocates the channel to those that exceed the local thresholds according to an error-dependent priority measure. We show stochastic stability of such NCSs in terms of f-ergodicity of the network-induced error, which is modeled as a Markov chain. Numerical results validate our stability results in the presence of packet dropouts and delayed data update.
Keywords :
Markov processes; channel allocation; delays; networked control systems; probability; scheduling; stability; Markov chain; NCS stochastic stability; channel access allocation; delayed information update; event-based probabilistic medium access; multiloop NCSs; multiloop networked control systems; network-induced error f-ergodicity; network-induced phenomena; packet dropouts; resource constrained networked control systems; robust event-based data scheduling; shared communication channel; Communication channels; Delays; Markov processes; Probabilistic logic; Robustness; Stability analysis;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
Type :
conf
DOI :
10.1109/ACC.2015.7172069
Filename :
7172069
Link To Document :
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