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arXiv · 1208.5604

Optimal co-design of control, scheduling and routing in multi-hop control networks

F. Smarra·A. D'Innocenzo·M. D. Di Benedetto
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Abstract

A Multi-hop Control Network consists of a plant where the communication between sensors, actuators and computational units is supported by a (wireless) multi-hop communication network, and data flow is performed using scheduling and routing of sensing and actuation data. Given a SISO LTI plant, we will address the problem of co-designing a digital controller and the network parameters (scheduling and routing) in order to guarantee stability and maximize a performance metric on the transient response to a step input, with constraints on the control effort, on the output overshoot and on the bandwidth of the communication channel. We show that the above optimization problem is a polynomial optimization problem, which is generally NP-hard. We provide sufficient conditions on the network topology, scheduling and routing such that it is computationally feasible, namely such that it reduces to a convex optimization problem.

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F. Smarra, A. D'Innocenzo, M. D. Di Benedetto. 2012-08-28. Optimal co-design of control, scheduling and routing in multi-hop control networks. https://doi.org/10.1109/cdc.2012.6426249

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