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. Index Terms-Markov decision process, optimal control, wireless sensor networks. C YBER-PHYSICAL systems (CPS) represent a new class of networked embedded systems where requirements on the communication infrastructure are intimately coupled with computational and control requirements. Examples of CPS applications include building management and automation, Internet of things, intelligent transportation systems, and smart grids [1], [2] . The industrial practice for designing such systems has been to disregard the computation and communication aspects when designing the controller. This works well if the performance requirements are low, or if there is a significant separation between the time scale of computation and communication, on the one hand, and control, on the other. It is then often possible to make the communication and computation appear reliable and predictable at the time scale of the control loop. When communication, computation and control do interact, the burden of ensuring reliable system-level performance is typically put on the control system. Using highlevel abstractions of the deficiencies introduced by unreliable communication and resource-constrained hardware, control algorithms are synthesized to be robust to these uncertainties. However, robustification of control laws can come at a high performance price, and it is sometimes simply not possible to compensate for networking shortcomings in control software.
In REF , co-design of packet forwarding policies and controllers is studied in multi-hop wireless networks.
Modular Design of Jointly Optimal Controllers and Forwarding Policies for Wireless Control
IEEE Transactions on Automatic Control
IEEE Transactions on Automatic Control
Mathematics Computer Science