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The Wireless Control Network: Synthesis and robustness

Publication ,  Conference
Pajic, M; Sundaram, S; Le Ny, J; Pappas, GJ; Mangharam, R
Published in: Decision and Control (CDC), 2010 49th IEEE Conference on
December 2010

We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. Traditional networked control schemes are designed with one of the nodes in the network acting as a dedicated controller, while the other nodes simply route information to and from the controller and the plant. We introduce the concept of a Wireless Control Network (WCN) where the entire network itself acts as the controller. Specifically, at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. We show that this causes the entire network to behave as a linear dynamical system, with sparsity constraints imposed by the network topology. We then provide a numerical design procedure to determine the appropriate linear combinations to be applied by each node so that the transmissions of the nodes closest to the actuators will stabilize the plant. We also show how our design procedure can be modified to maintain mean square stability under packet drops in the network.

Duke Scholars

Published In

Decision and Control (CDC), 2010 49th IEEE Conference on

DOI

ISSN

0743-1546

Publication Date

December 2010

Start / End Page

7576 / 7581
 

Citation

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Pajic, M., Sundaram, S., Le Ny, J., Pappas, G. J., & Mangharam, R. (2010). The Wireless Control Network: Synthesis and robustness. In Decision and Control (CDC), 2010 49th IEEE Conference on (pp. 7576–7581). https://doi.org/10.1109/CDC.2010.5717159
Pajic, M., S. Sundaram, Jerome Le Ny, G. J. Pappas, and R. Mangharam. “The Wireless Control Network: Synthesis and robustness.” In Decision and Control (CDC), 2010 49th IEEE Conference On, 7576–81, 2010. https://doi.org/10.1109/CDC.2010.5717159.
Pajic M, Sundaram S, Le Ny J, Pappas GJ, Mangharam R. The Wireless Control Network: Synthesis and robustness. In: Decision and Control (CDC), 2010 49th IEEE Conference on. 2010. p. 7576–81.
Pajic, M., et al. “The Wireless Control Network: Synthesis and robustness.” Decision and Control (CDC), 2010 49th IEEE Conference On, 2010, pp. 7576–81. Manual, doi:10.1109/CDC.2010.5717159.
Pajic M, Sundaram S, Le Ny J, Pappas GJ, Mangharam R. The Wireless Control Network: Synthesis and robustness. Decision and Control (CDC), 2010 49th IEEE Conference on. 2010. p. 7576–7581.

Published In

Decision and Control (CDC), 2010 49th IEEE Conference on

DOI

ISSN

0743-1546

Publication Date

December 2010

Start / End Page

7576 / 7581