Opportunistic Control Over Shared Wireless Channels

We consider a wireless control architecture with multiple control loops over a shared wireless medium. A scheduler observes the random channel conditions that each control system experiences over the shared medium and opportunistically selects systems to transmit at a set of non-overlapping frequencies. The transmit power of each system also adapts to channel conditions and determines the probability of successfully receiving and closing the loop. We formulate the optimal design of channel-aware scheduling and power allocation that minimize the total power consumption while meeting control performance requirements for all systems. In particular, it is required that for each control system a given Lyapunov function decreases at a specified rate in expectation over the random channel conditions. We develop an offline algorithm to find the optimal communication design, as well as an online protocol which selects scheduling and power variables based on a random observed channel sequence and converges almost surely to the optimal operating point. Simulations illustrate the power savings of our approach compared to other non-channel-aware schemes.

[1]  Ness B. Shroff,et al.  A framework for opportunistic scheduling in wireless networks , 2003, Comput. Networks.

[2]  D. Hristu-Varsakelis.  Feedback control systems as users of a shared network: communication sequences that guarantee stability , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[3]  A. Banerjee.  Convex Analysis and Optimization , 2006 .

[4]  Alejandro Ribeiro,et al.  Power-aware communication for wireless sensor-actuator systems , 2013, 52nd IEEE Conference on Decision and Control.

[5]  John N. Tsitsiklis,et al.  Introduction to linear optimization , 1997, Athena scientific optimization and computation series.

[6]  Xuan Kong,et al.  Adaptive Signal Processing Algorithms: Stability and Performance , 1994 .

[7]  Bruno Sinopoli,et al.  Foundations of Control and Estimation Over Lossy Networks , 2007, Proceedings of the IEEE.

[8]  Alejandro Ribeiro,et al.  Optimal resource allocation in wireless communication and networking , 2012, EURASIP Journal on Wireless Communications and Networking.

[9]  Dimitri P. Bertsekas,et al.  Convex Analysis and Optimization , 2003 .

[10]  Nathan van de Wouw,et al.  Stability Analysis of Networked Control Systems Using a Switched Linear Systems Approach , 2011, IEEE Trans. Autom. Control..

[11]  Y. Wardi,et al.  Multi-process control using queuing theory , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[12]  Sandra Hirche,et al.  Price-Based Adaptive Scheduling in Multi-Loop Control Systems With Resource Constraints , 2014, IEEE Transactions on Automatic Control.

[13]  Andrea Goldsmith,et al.  Wireless Communications , 2005, 2021 15th International Conference on Advanced Technologies, Systems and Services in Telecommunications (TELSIKS).

[14]  Daniel E. Quevedo,et al.  On Kalman filtering over fading wireless channels with controlled transmission powers , 2012, Autom..

[15]  Alejandro Ribeiro,et al.  Optimal Power Management in Wireless Control Systems , 2014, IEEE Transactions on Automatic Control.

[16]  Alejandro Ribeiro,et al.  Opportunistic sensor scheduling in wireless control systems , 2014, 53rd IEEE Conference on Decision and Control.

[17]  George J. Pappas,et al.  Resource constrained LQR control under fast sampling , 2011, HSCC '11.

[18]  Anton Cervin,et al.  Scheduling of event-triggered controllers on a shared network , 2008, 2008 47th IEEE Conference on Decision and Control.

[19]  João Pedro Hespanha,et al.  A Survey of Recent Results in Networked Control Systems , 2007, Proceedings of the IEEE.

[20]  Alejandro Ribeiro,et al.  Opportunistic scheduling of control tasks over shared wireless channels , 2014, 2014 ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS).

[21]  R. Durrett.  Probability: Theory and Examples , 1993 .

[22]  Leandros Tassiulas,et al.  Resource Allocation and Cross-Layer Control in Wireless Networks , 2006, Found. Trends Netw..

[23]  Wei Zhang,et al.  Scheduling and feedback co-design for networked control systems , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[24]  Wei Zhang,et al.  Stability of networked control systems , 2001 .

[25]  Lei Zhang,et al.  Communication and control co-design for networked control systems , 2006, Autom..

[26]  Subhrakanti Dey,et al.  Optimal Energy Allocation for Kalman Filtering Over Packet Dropping Links With Imperfect Acknowledgments and Energy Harvesting Constraints , 2014, IEEE Transactions on Automatic Control.

[27]  J. Peschon,et al.  Optimal control of measurement subsystems , 1967, IEEE Transactions on Automatic Control.

[28]  P.R. Kumar,et al.  Interrupt-based feedback control over a shared communication medium , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[29]  Linda Bushnell,et al.  Stability analysis of networked control systems , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).