Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks

Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless technology is preferred for its low cost, small form factor, and flexibility, especially if the devices support multi-hop communication. So far, however, feedback control over wireless multi-hop networks has only been shown for update intervals on the order of seconds. This paper presents a wireless embedded system that tames imperfections impairing control performance (e.g., jitter and message loss), and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for physical processes with linear time-invariant dynamics. Using experiments on a cyber-physical testbed with 20 wireless nodes and multiple cart-pole systems, we are the first to demonstrate and evaluate feedback control and coordination over wireless multi-hop networks for update intervals of 20 to 50 milliseconds.Comment: Accepted final version to appear in: 10th ACM/IEEE International Conference on Cyber-Physical Systems (with CPS-IoT Week 2019) (ICCPS '19), April 16--18, 2019, Montreal, QC, Canad

Controller design for synchronization of an array of delayed neural networks using a controllable

This is the post-print version of the Article - Copyright @ 2011 ElsevierIn this paper, a controllable probabilistic particle swarm optimization (CPPSO) algorithm is introduced based on Bernoulli stochastic variables and a competitive penalized method. The CPPSO algorithm is proposed to solve optimization problems and is then applied to design the memoryless feedback controller, which is used in the synchronization of an array of delayed neural networks (DNNs). The learning strategies occur in a random way governed by Bernoulli stochastic variables. The expectations of Bernoulli stochastic variables are automatically updated by the search environment. The proposed method not only keeps the diversity of the swarm, but also maintains the rapid convergence of the CPPSO algorithm according to the competitive penalized mechanism. In addition, the convergence rate is improved because the inertia weight of each particle is automatically computed according to the feedback of fitness value. The efficiency of the proposed CPPSO algorithm is demonstrated by comparing it with some well-known PSO algorithms on benchmark test functions with and without rotations. In the end, the proposed CPPSO algorithm is used to design the controller for the synchronization of an array of continuous-time delayed neural networks.This research was partially supported by the National Natural Science Foundation of PR China (Grant No 60874113), the Research Fund for the Doctoral Program of Higher Education (Grant No 200802550007), the Key Creative Project of Shanghai Education Community (Grant No 09ZZ66), the Key Foundation Project of Shanghai(Grant No 09JC1400700), the Engineering and Physical Sciences Research Council EPSRC of the U.K. under Grant No. GR/S27658/01, an International Joint Project sponsored by the Royal Society of the U.K., and the Alexander von Humboldt Foundation of Germany

A comparison of two global optimization algorithms with sequential niche technique for structural model updating

Peer reviewedPostprin

Parallel ACO with a Ring Neighborhood for Dynamic TSP

The current paper introduces a new parallel computing technique based on ant colony optimization for a dynamic routing problem. In the dynamic traveling salesman problem the distances between cities as travel times are no longer fixed. The new technique uses a parallel model for a problem variant that allows a slight movement of nodes within their Neighborhoods. The algorithm is tested with success on several large data sets.Comment: 8 pages, 1 figure; accepted J. Information Technology Researc