Control with random access wireless sensors

We consider multiple sensors randomly accessing a shared wireless medium to transmit measurements of their respective plants to a controller. To mitigate the packet collisions arising from simultaneously transmitting sensors, we appropriately design the sensor access rates. This is posed as an optimization problem, where the total transmit power of the sensors is minimized, and control performance for all control loops needs to be guaranteed. Control performance of each loop is abstracted as a desired expected decrease rate of a given Lyapunov function. By establishing an equivalent convex optimization problem, the optimal access rates are shown to decouple among sensors. Moreover, based on the Lagrange dual problem, we develop an easily implementable distributed procedure to find the optimal sensor access rates.

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

[2]  Stephen P. Boyd,et al.  Convex Optimization , 2004, Algorithms and Theory of Computation Handbook.

[3]  Alejandro Ribeiro,et al.  Adaptive distributed algorithms for optimal random access channels , 2010, 2010 48th Annual Allerton Conference on Communication, Control, and Computing (Allerton).

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

[5]  Alexander L. Stolyar,et al.  Throughput Region of Random-Access Networks of General Topology , 2012, IEEE Transactions on Information Theory.

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

[7]  Peter F. Al-Hokayem.  Stability Analysis of Networked Control Systems , 2003 .

[8]  A. Robert Calderbank,et al.  Utility-optimal random-access control , 2007, IEEE Transactions on Wireless Communications.

[9]  A. Goldsmith,et al.  Wireless medium access control in networked control systems , 2004, Proceedings of the 2004 American Control Conference.

[10]  Dragan Nesic,et al.  Input–Output Stability of Networked Control Systems With Stochastic Protocols and Channels , 2008, IEEE Transactions on Automatic Control.

[11]  Bruno Sinopoli,et al.  Kalman filtering with intermittent observations , 2004, IEEE Transactions on Automatic Control.

[12]  Marcos M. Vasconcelos,et al.  Remote estimation games over shared networks , 2014, 2014 52nd Annual Allerton Conference on Communication, Control, and Computing (Allerton).

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

[14]  Wenyi Zhang.  Stabilization of networked control systems over a sharing link using ALOHA , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

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

[16]  Alejandro Ribeiro,et al.  Opportunistic Control Over Shared Wireless Channels , 2015, IEEE Transactions on Automatic Control.

[17]  George J. Pappas,et al.  Decentralized Channel Access for Wireless Control Systems , 2015 .

[18]  Nathan van de Wouw,et al.  Stability Analysis of Networked Control Systems Using a Switched Linear Systems Approach , 2009, IEEE Transactions on Automatic Control.

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

[20]  Karl Henrik Johansson,et al.  Design of State-Based Schedulers for a Network of Control Loops , 2012, IEEE Transactions on Automatic Control.

[21]  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).

[22]  Frank Allgöwer,et al.  Analysis of Networked Event-Based Control with a Shared Communication Medium: Part I – Pure ALOHA , 2011 .

[23]  Wei Luo,et al.  Power levels and packet lengths in random multiple access , 2002, IEEE Trans. Inf. Theory.

[24]  M. Fragoso,et al.  Stability Results for Discrete-Time Linear Systems with Markovian Jumping Parameters , 1993 .

[25]  Mikael Johansson,et al.  Networked estimation under contention-based medium access , 2010 .

[26]  Leandros Tassiulas,et al.  Achieving proportional fairness using local information in Aloha networks , 2004, IEEE Transactions on Automatic Control.