Closing the Loop: A Simple Distributed Method for Control over Wireless Networks

Simple item page
dc.contributor.authorPajic, Miroslav
dc.contributor.authorSundaram, Shreyas
dc.contributor.authorLE NY, Jerome
dc.contributor.authorPappas, George J.
dc.contributor.authorMangharam, Rahul
dc.contributor.authorPajic, Miroslav
dc.contributor.authorSundaram, Shreyas
dc.contributor.authorLE NY, Jerome
dc.contributor.authorPappas, George J.
dc.contributor.authorMangharam, Rahul
dc.date2023-05-17T06:52:04.000
dc.date.accessioned2023-05-22T23:59:23Z
dc.date.available2023-05-22T23:59:23Z
dc.date.issued2012-01-01
dc.date.submitted2012-03-02T13:26:47-08:00
dc.description.abstractWe present a distributed scheme used for control over a network of 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, Wireless Control Network (WCN), treats the network itself as the controller. In other words, the computation of the control law is done in a fully distributed way inside the network. We extend the basic WCN strategy, 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. This causes the entire network to behave as a linear dynamical system, with sparsity constraints imposed by the network topology. We demonstrate that with observer style updates, the WCN's robustness to link failures is substantially improved. Furthermore, we show how to design a WCN that can maintain stability even in cases of node failures. We also address the problem of WCN synthesis with guaranteed optimal performance of the plant, with respect to standard cost functions. We extend the synthesis procedure to deal with continuous-time plants and demonstrate how the WCN can be used on a practical, industrial application, using a process-in-the-loop setup with real hardware.
dc.description.comments<p>Suggested Citation:</p> <p>M. Pajic, S. Sundaram, J. Le Ny, G. J. Pappas and R. Mangharam, "Closing the Loop: A Simple Distributed Method for Control over Wireless Networks", <em>Proceedings of the </em><em>11th ACM/IEEE International Conference on Information Processing in Sensor Networks</em> (<em>IPSN 2012</em>)<em>, </em>Beijing, China, 2012.</p> <p>© ACM, 2012. This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version to be published in the Proceedings of the <em>11th ACM/IEEE International Conference on Information Processing in Sensor Networks</em><em> (IPSN 2012)</em><em>.</em> http://www.acm.org/. Email permissions@acm.org</p>
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/40654
dc.legacy.articleid1062
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1062&amp;context=mlab_papers&amp;unstamped=1
dc.source.issue44
dc.source.journalReal-Time and Embedded Systems Lab (mLAB)
dc.source.peerreviewedtrue
dc.source.statuspublished
dc.subject.otherCooperative control
dc.subject.otherdecentralized control
dc.subject.othernetworked control systems
dc.subject.otherwireless sensor networks
dc.subject.otherControls and Control Theory
dc.subject.otherElectrical and Electronics
dc.subject.otherSystems and Communications
dc.titleClosing the Loop: A Simple Distributed Method for Control over Wireless Networks
dc.typePresentation
digcom.contributor.authorisAuthorOfPublication|email:pajic@seas.upenn.edu|institution:University of Pennsylvania|Pajic, Miroslav
digcom.contributor.authorisAuthorOfPublication|email:ssundara@uwaterloo.ca|institution:University of Waterloo|Sundaram, Shreyas
digcom.contributor.authorisAuthorOfPublication|email:jerome.le-ny@polymtl.ca|institution:University of Pennsylvania|LE NY, Jerome
digcom.contributor.authorisAuthorOfPublication|email:pappasg@seas.upenn.edu|institution:University of Pennsylvania|Pappas, George J.
digcom.contributor.authorisAuthorOfPublication|email:rahulm@seas.upenn.edu|institution:University of Pennsylvania|Mangharam, Rahul
digcom.identifiermlab_papers/44
digcom.identifier.contextkey2619338
digcom.identifier.submissionpathmlab_papers/44
digcom.typeconference
dspace.entity.typePublication
relation.isAuthorOfPublication26e7bd59-c594-42d7-ab18-3075fd349efc
relation.isAuthorOfPublicationf007a416-7b99-472f-911d-7feb91661750
relation.isAuthorOfPublication5dd19597-53d3-49ad-a4a3-d0157ed710d9
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
Thumbnail Image
Name:
ipsn12_wcn.pdf
Size:
2.17 MB
Format:
Adobe Portable Document Format
Download
Collection
Presentations