29,627 research outputs found
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
Resource-aware IoT Control: Saving Communication through Predictive Triggering
The Internet of Things (IoT) interconnects multiple physical devices in
large-scale networks. When the 'things' coordinate decisions and act
collectively on shared information, feedback is introduced between them.
Multiple feedback loops are thus closed over a shared, general-purpose network.
Traditional feedback control is unsuitable for design of IoT control because it
relies on high-rate periodic communication and is ignorant of the shared
network resource. Therefore, recent event-based estimation methods are applied
herein for resource-aware IoT control allowing agents to decide online whether
communication with other agents is needed, or not. While this can reduce
network traffic significantly, a severe limitation of typical event-based
approaches is the need for instantaneous triggering decisions that leave no
time to reallocate freed resources (e.g., communication slots), which hence
remain unused. To address this problem, novel predictive and self triggering
protocols are proposed herein. From a unified Bayesian decision framework, two
schemes are developed: self triggers that predict, at the current triggering
instant, the next one; and predictive triggers that check at every time step,
whether communication will be needed at a given prediction horizon. The
suitability of these triggers for feedback control is demonstrated in hardware
experiments on a cart-pole, and scalability is discussed with a multi-vehicle
simulation.Comment: 16 pages, 15 figures, accepted article to appear in IEEE Internet of
Things Journal. arXiv admin note: text overlap with arXiv:1609.0753
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