Modular Design of Jointly Optimal Controllers and Forwarding Policies for Wireless Control

Burak Demirel, Zhenhua Zou, Pablo Soldati, Mikael Johansson
2014 IEEE Transactions on Automatic Control  
We consider the joint design of forwarding policies and controllers for wireless control loops where sensor measurements are sent over an unreliable multi-hop wireless network to the controller node. For fixed sampling rate of the control loop, the co-design problem separates into two well-defined and independent subproblems: transmission scheduling for maximizing the delay-constrained reliability and optimal control under packet loss. We develop optimal solutions for these subproblems and show
more » ... that the optimally co-designed system can be found by a one-dimensional search over the sampling interval. Several numerical examples illustrate the power of our approach.
doi:10.1109/tac.2014.2351972 fatcat:jv67olwl7nbtho3tzbecchzr6e