Modular design of jointly optimal controllers and forwarding policies for wireless control
Provides a modular framework for jointly optimal controller and forwarding policy design in wireless control systems, enabling efficient co-design.
The paper addresses joint design of packet forwarding policies and controllers for wireless control loops, showing that the co-design problem separates into two independent subproblems: transmission scheduling for reliability and optimal control under packet loss. Optimal solutions are developed and demonstrated via numerical examples.
We consider the joint design of packet forwarding policies and controllers for wireless control loops where sensor measurements are sent to the controller over an unreliable and energy-constrained multi-hop wireless network. For fixed sampling rate of the sensor, the co-design problem separates into two well-defined and independent subproblems: transmission scheduling for maximizing the deadline-constrained reliability and optimal control under packet loss. We develop optimal and implementable solutions for these subproblems and show that the optimally co-designed system can be efficiently found. Numerical examples highlight the many trade-offs involved and demonstrate the power of our approach.