Minimum-energy packet forwarding policies for guaranteed LQG performance in wireless control systems

QC 20121116
This paper studies minimum-energy packet forwarding policies for communicating sensor measurements from plant to controller over an unreliable multi-hop wireless network so as to guarantee that the optimal controller achieves a prespecified closed-loop performance. For fixed sampling interval, we demonstrate that the minimal linear-quadratic control loss is monotonically decreasing in the reliability of the sensor-to-controller communication. This allows us to decompose the overall design problem into two separate tasks: finding the minimum end-to-end reliability that allows to achieve a prespecified linear-quadratic loss, and developing minimum-energy packet forwarding policies under a deadline-constrained reliability requirement. We develop optimal solutions for both subproblems and show how the co-designed system with minimum forwarding energy cost and guaranteed LQG control performance can be found by a one-dimensional search over admissible sampling periods. The paper ends with a numerical example which demonstrates the effectiveness of the proposed framework.

Demirel, BurakKTH,Reglerteknik,ACCESS Linnaeus Centre(Swepub:kth)u1gfd9qb (author)
Johansson, MikaelKTH,Reglerteknik,ACCESS Linnaeus Centre(Swepub:kth)u13pw0wb (author)
KTHReglerteknik (creator_code:org_t)

In:2012 IEEE 51st Annual Conference on Decision and Control (CDC): IEEE, s. 3341-33469781467320665

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