Stability-Aware Joint Communication and Control for Nonlinear Control-Non-Affine Wireless Networked Control Systems

Abstract

Ensuring the stability of wireless networked control systems (WNCS) with nonlinear and control-non-affine dynamics, where system behavior is nonlinear with respect to both states and control decisions, poses a significant challenge, particularly under limited resources. However, it is essential in the context of 6G, which is expected to support reliable communication to enable real-time autonomous systems. This paper proposes a joint communication and control solution consisting of: i) a deep Koopman model capable of learning and mapping complex nonlinear dynamics into linear representations in an embedding space, predicting missing states, and planning control actions over a future time horizon; and ii) a scheduling algorithm that schedules sensor-controller communication based on Lyapunov optimization, which dynamically allocates communication resources based on system stability and available resources. Control actions are computed within this embedding space using a linear quadratic regulator (LQR) to ensure system stability. The proposed model is evaluated under varying conditions and its performance is compared against two baseline models; one that assumes systems are control-affine, and another that assumes identical control actions in the embedding and original spaces. The evaluation results demonstrate that the proposed model outperforms both baselines, by achieving stability while requiring fewer transmissions.