Sparse and Constrained Stochastic Predictive Control for Networked Systems

This article presents a novel class of control policies for networked control of Lyapunov-stable linear systems with bounded inputs. The control channel is assumed to have i.i.d. Bernoulli packet dropouts and the system is assumed to be affected by additive stochastic noise. Our proposed class of policies is affine in the past dropouts and saturated values of the past disturbances. We further consider a regularization term in a quadratic performance index to promote sparsity in control. We demonstrate how to augment the underlying optimization problem with a constant negative drift constraint to ensure mean-square boundedness of the closed-loop states, yielding a convex quadratic program to be solved periodically online. The states of the closed-loop plant under the receding horizon implementation of the proposed class of policies are mean square bounded for any positive bound on the control and any non-zero probability of successful transmission

Optimal Sequence-Based Control of Networked Linear Systems

In Networked Control Systems (NCS), components of a control loop are connected by data networks that may introduce time-varying delays and packet losses into the system, which can severly degrade control performance. Hence, this book presents the newly developed S-LQG (Sequence-Based Linear Quadratic Gaussian) controller that combines the sequence-based control method with the well-known LQG approach to stochastic optimal control in order to compensate for the network-induced effects

Robust stabilization of a class of nonlinear systems controlled over communication networks

The paper deals with the stabilization of nonlin-ear systems in which the loop is closed over a lossy non-acknowledged communication network. Given a Regional Input-to-State (ISS) stabilizing state-feedback control law, designedwithout accounting for the network-induced delays, we proposea non-acknowledged communication policy that allows to deploythe above controller over the network without any modification,while preserving the Regional ISS property. The time-varyingdelays and packet dropouts occurring on both the up-link andthe down-link are compensated through a model-based predictionscheme and a packet-management policy based on time-stamping.The consistency of the prediction, which is a major issue inthe context of nonlinear systems with an embedded networkedcontroller, is guaranteed through the exploitation of a novel move-blocking strategy for computing the command sequence to beforwarded to the actuators

Networked Predictive Control of Systems with Data Dropouts

This paper presents a practical algorithm to design networked control systems able to cope with high data dropout rates. The algorithm is intended for application in packet based networks protocols (Ethernet-like) where data packets typically content large data fields. The key concept is using such packets to transmit not only the current control signal, but predictions on a finite horizon without significantly increasing traffic load. Thus, predictive control is used together with buffered actuators and a state estimator to compensate for eventual packet dropouts. Additionally, some ideas are proposed to decrease traffic load, limiting packet size and media access frequency. Simulation results on the control of a three-tank system are given to illustrate the effectiveness of the method

Design methods for networked control systems with unreliable channels focusing on packet dropouts

Texto completo descargado en TeseoLos sistemas de control a través de redes se han convertido en un área importante dentro de la comunidad de control, lo cual es debido a su bajo coste y a la flexibilidad de sus aplicaciones. Los sistemas de control a través de redes (NCSs) se componen de sensores, actuadores y controladores; las operaciones entre ellos se coordinan a través de una red de comunicación. Típicamente, estos sistemas están espacialmente distribuidos, y pueden funcionar de manera asíncrona, pero sus operaciones han de estar coordinadas para conseguir los objetivos deseados. En este resumen se presenta una perspectiva general de los NCSs, y en particular, los casos específicos en los que se ha basado esta tesis, abordando los temas principales relacionados con NCS, con todos los problemas y ventajas asociados, se describen en este resumen. Por último, se presenta un índice de la tesis con sus contribuciones más relevantes. - Introducción a los Sistemas de Control a través de Red Los Sistemas de Control a través de Red (NCSs) son sistemas espacialmente distribuidos donde la comunicación entre plantas, sensores, actuadores y controladores se realiza a través de una red de comunicación. La complejidad en el diseño y la realización, el coste del cableado, la instalación y el mantenimiento pueden ser reducidos drásticamente incluyendo una red de comunicación. Sin embargo, las redes de comunicación en los sistemas también traen algunos incovenientes como los retrasos y la pérdida de datos, los errores de codificación, etc. Estos incovenientes pueden ser la causa de la de la degradación del comportamiento del sistema e incluso causar su desestabilización. Hoy en día, hay un gran número de situaciones prácticas en las que el uso de redes de comunicación para el control son necesarias para aplicaciones o procesos de control en ingeniería. Algunos ejemplos son: Situaciones en las que el espacio y el peso están limitados. Situaciones en las que las distancias a considerar son grandes. Aplicaciones de control donde el cableado no es posible. El uso de redes de comunicación digitales proporciona también algunas ventajas: La complejidad en el cableado en conexiones punto a punto se reduce mucho, así como el coste. Además, los costes de instalación pueden reducirse también drásticamente. La reducción en la complejidad del cableado hace mucho más fácil el diagnóstico y el mantenimiento del sistema, dando lugar a un ahorro en el coste debido a que la instalación y el funcionamiento tienen una eficiencia mayor. Los NCSs son flexibles y reconfigurables. Fiabilidad, redundancia y robustez ante los fallos. Los NCSs proporcionan modularidad, control descentralizado y diagnósticos integrados. Todas estas ventajas sugieren que los NCSs jugarán un papel principal en un futuro cercano, siendo un área de investigación muy prometedora. - Objetivos de la tesis La idea general de esta tesis es proponer algunas soluciones novedosas a diferentes problemas relacionados con NCSs. Todos los problemas considerados son típicos dentro del marco del control a través de redes, considerándose principalmente el de las pérdidas de paquetes en la transmisión de datos. Dentro del contexto de sistemas con pérdida de paquetes, se han estudiado diferentes problemas. Para obtener soluciones diferentes para este tipo de sistemas, se han considerado los siguientes objetivos: Diseño de controladores. Controladores Hinf, que consigan la robustificación de sistemas con incertidumbres. Controladores MPC, combinados con estrategias de buffer. Diseño de filtros. Filtros Hinf para sistemas con incertidumbres, usando técnicas frecuenciales y cadenas de Markov. Diseño de algoritmos. Localización dinámica de un control distribuido en una red formada por una estructura matricial de nodos. Localización dinámica del estimador de la salida del sistema, en una red formada por una estructura lineal de nodos. Estimación distribuida cooperativa. Basada en observadores locales de Luenberger. - Conclusiones Uno de los objetivos de esta tesis ha sido el análisis de la estabilidad y comportamiento de sistemas bajo control. En algunos casos, el diseño se ha realizado imponiendo restricciones en cuanto a la estabilidad. La robustificación de sistemas, en particular la de aquellos con incertidumbres, ha sido también tenida en cuenta. Las técnicas de control Hinf se han usado en los casos de análisis y diseño de sistemas de control. Otro objetivo importante de esta tesis ha sido el diseño de algoritmos para una red dinámica, la cual está compuesta por cierta estructura de nodos. El algoritmo es capaz de decidir qué nodo será el controlador o el estimador de la salida del sistema en la red. La estabilidad y el comportamiento del sistema de control ha sido analizado. También se ha abordado el diseño de estimación y esquemas distribuidos. Se han considerado redes que introducen retrasos temporales, junto con pérdidas aleatorias. La reducción en el consumo de energía ha sido un objetivo importante en esta parte de la tesis. En este caso, se ha examinado una política de comunicación entre agentes basada en eventos, la cual da lugar a un compromiso entre el comportamiento del sistema y los ahorros en la comunicación

Multiple Loop Self-Triggered Model Predictive Control for Network Scheduling and Control

We present an algorithm for controlling and scheduling multiple linear time-invariant processes on a shared bandwidth limited communication network using adaptive sampling intervals. The controller is centralized and computes at every sampling instant not only the new control command for a process, but also decides the time interval to wait until taking the next sample. The approach relies on model predictive control ideas, where the cost function penalizes the state and control effort as well as the time interval until the next sample is taken. The latter is introduced in order to generate an adaptive sampling scheme for the overall system such that the sampling time increases as the norm of the system state goes to zero. The paper presents a method for synthesizing such a predictive controller and gives explicit sufficient conditions for when it is stabilizing. Further explicit conditions are given which guarantee conflict free transmissions on the network. It is shown that the optimization problem may be solved off-line and that the controller can be implemented as a lookup table of state feedback gains. Simulation studies which compare the proposed algorithm to periodic sampling illustrate potential performance gains.Comment: Accepted for publication in IEEE Transactions on Control Systems Technolog

Networked Predictive Control of Uncertain Constrained Nonlinear Systems: Recursive Feasibility and Input-to-State Stability Analysis

Abstract-In this paper, the robust state feedback stabilization of uncertain discrete-time constrained nonlinear systems in which the loop is closed through a packet-based communication network is addressed. In order to cope with model uncertainty, timevarying transmission delays, and packet dropouts (typically affecting the performances of networked control systems), a robust control scheme combining model predictive control with a network delay compensation strategy is proposed in the context of non-acknowledged UDP-like networks. The contribution of the paper is twofold. First, the issue of guaranteeing the recursive feasibility of the optimization problem associated to the receding horizon control law has been addressed, such that the invariance of the feasible region under the networked closed-loop dynamics can be guaranteed. Secondly, by exploiting a novel characterization of regional Input-to-State Stability in terms of time-varying Lyapunov functions, the networked closed-loop system has been proven to be Input-to-State Stable with respect to bounded perturbations

Optimal Sequence-Based Control of Networked Linear Systems

In Networked Control Systems (NCS), components of a control loop are connected by data networks that may introduce time-varying delays and packet losses into the system, which can severly degrade control performance. Hence, this book presents the newly developed S-LQG (Sequence-Based Linear Quadratic Gaussian) controller that combines the sequence-based control method with the well-known LQG approach to stochastic optimal control in order to compensate for the network-induced effects

Transmission Scheduling in Wireless Networked Control for Industrial IoT

Wireless networked control systems (WNCS) consist of spatially distributed sensors, actuators, and controllers communicating through wireless networks. WNCS has recently emerged as a fundamental infrastructure technology to enable reliable control for mission-critical Industrial Internet of Things (IIoT) applications such as factory automation, intelligent transportation systems, telemedicine and smart grids. The design of WNCS requires the joint design of communications, computing and control. WNCS faces challenges such as unreliable transmission and latency in transmitting control and sensing information due to channel impairment in wireless communications for large scale deployment. This can have a significant impact on the stability and performance of WNCS. Most existing works have mainly focused on the design of WNCS from a control perspective rather than communications or have considered an ideal or simplified wireless model. How to reliably control WNCS in practical wireless channels and design wireless communication scheduling policy to optimize control performance is a challenging task. This thesis presents the design of practical communication protocols of a general discrete linear time-invariant (LTI) dynamic system in WNCS. We address the transmission scheduling problems in WNCS in three scenarios, which require the development of different strategies. Firstly, to minimize the long-term average remote estimation mean-squared-error (MSE), a hybrid automatic repeat request (HAQR)-based real-time estimation framework is proposed. Secondly, a downlink-uplink transmission scheduling policy is developed for a half-duplex (FD) controller to optimize the system performance. Finally, a novel controller with adaptive packet length is studied, and a variable-length packet-transmission policy is proposed to balance the delay-reliability tradeoff in WNCS optimally. Numerical results show that our dynamic scheduling policies can significantly improve the performance of WNCS in terms of estimation and control costs while maintaining the stability of the system