The Wireless Control Network: A New Approach for Control over Networks

dc.contributor.authorPajic, Miroslav
dc.contributor.authorPappas, George
dc.contributor.authorMangharam, Rahul
dc.contributor.authorSundaram, Shreyas
dc.date2023-05-17T05:23:00.000
dc.date.accessioned2023-05-22T23:59:05Z
dc.date.available2023-05-22T23:59:05Z
dc.date.issued2010-03-01
dc.date.submitted2010-09-16T09:16:17-07:00
dc.description.abstractWe present a method to stabilize a plant with a network of resource constrained 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 treats the network itself as the controller. Specifically, we formulate a strategy for each node in the network to follow 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. We show that this causes the entire network to behave as a linear dynamical system, with sparsity constraints imposed by the network topology. We provide a numerical design procedure (based on linear matrix inequalities) to determine the appropriate linear combinations to be applied by each node so that the transmissions of the nodes closest to the actuators will stabilize the plant. We also show how our design procedure can be modified to maintain mean square stability under packet drops in the network, and present a distributed scheme that can handle node failures while preserving stability. We call this architecture a Wireless Control Network, and show that it introduces very low computational and communication overhead to the nodes in the network, allows the use of simple transmission scheduling algorithms, and enables compositional design (where the existing wireless control infrastructure can be easily extended to handle new plants that are brought online in the vicinity of the network).
dc.description.commentsSuggested Citiation: Pajic, M., S. Sundaram, G. J. Pappas and R. Mangharam, The Wireless Control Network, Technical Report, March 2010.
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/40625
dc.legacy.articleid1014
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1014&context=mlab_papers&unstamped=1
dc.source.issue15
dc.source.journalReal-Time and Embedded Systems Lab (mLAB)
dc.source.statuspublished
dc.subject.otherWireless Networks
dc.subject.otherElectrical and Computer Engineering
dc.subject.otherEngineering
dc.titleThe Wireless Control Network: A New Approach for Control over Networks
dc.typeReport
digcom.contributor.authorisAuthorOfPublication|email:pajic@seas.upenn.edu|institution:University of Pennsylvania|Pajic, Miroslav
digcom.contributor.authorSundaram, Shreyas
digcom.contributor.authorisAuthorOfPublication|email:pappasg@seas.upenn.edu|institution:University of Pennsylvania|Pappas, George
digcom.contributor.authorisAuthorOfPublication|email:rahulm@seas.upenn.edu|institution:University of Pennsylvania|Mangharam, Rahul
digcom.identifiermlab_papers/15
digcom.identifier.contextkey1561859
digcom.identifier.submissionpathmlab_papers/15
digcom.typereport
dspace.entity.typePublication
relation.isAuthorOfPublication26e7bd59-c594-42d7-ab18-3075fd349efc
relation.isAuthorOfPublication00473ef0-d415-4df9-b027-00f0cf171730
relation.isAuthorOfPublication3c7b38b7-1b79-42d0-b26d-5056a7251cfd
relation.isAuthorOfPublication.latestForDiscovery26e7bd59-c594-42d7-ab18-3075fd349efc
upenn.schoolDepartmentCenterReal-Time and Embedded Systems Lab (mLAB)
Files
Original bundle
Now showing 1 - 1 of 1
Loading...
Thumbnail Image
Name:
wcn_report.pdf
Size:
627.77 KB
Format:
Adobe Portable Document Format
Collection