Networked control over wireless networks is of growing importance in many application domains such as industrial control, building automation and transportation systems. Wide deployment however, requires systematic design tools to enable efficient resource usage while guaranteeing close-loop control performance. The control system may be greatly affected by the inherent imperfections and limitations of the wireless medium and malfunction of system components. In this thesis, we make five important contributions that address these issues. In the first contribution, we consider event- and self-triggered control and investigate how to efficiently tune and execute these paradigms for appropriate control performance. Communication strategies for aperiodic control are devised, where we jointly address the selection of medium-access control and scheduling policies. Experimental results show that the best trade-off is obtained by a hybrid scheme, combining event- and self-triggered control together with contention-based and contention-free medium access control. The second contribution proposes an event-based method to select between fast and slow periodic sampling rates. The approach is based on linear quadratic control and the event condition is a quadratic function of the system state. Numerical and experimental results show that this hybrid controller is able to reduce the average sampling rate in comparison to a traditional periodic controller, while achieving the same closed-loop control performance. In the third contribution, we develop compensation methods for out-of-order communications and time-varying delays using a game-theoretic minimax control framework. We devise a linear temporal coding strategy where the sensor combines the current and previous measurements into a single packet to be transmitted. An experimental evaluation is performed in a multi-hop networked control scenario with a routing layer vulnerability exploited by a malicious application. The experimental and numerical results show the ...
Design, Implementation and Validation of Resource-Aware and Resilient Wireless Networked Control Systems
2014-01-01
Hochschulschrift
Elektronische Ressource
Englisch
wireless networked control systems , NCS , wireless communications , control , distributed reconfiguration , resilient , fault-tolerant control , IEEE 802.15.4 , resource-aware , WNCS , aperiodic control , event-triggered , self-triggered , event-based , co-simulator , estimation , GISOO , MAC , scheduling , routing , RPL , delay , out-of-order communications , CPS , Cyber Physical Systems , Wireless Cyber Physical Systems , Wireless Cyber Physical Control Systems , Engineering and Technology , Teknik och teknologier
DDC: | 629 |
Design and Implementation of Resource-Aware Wireless Networked Control Systems
BASE | 2011
|Wireless Networked Control Systems
Springer Verlag | 2022
|Resource-Aware Automotive Control Systems Design
TIBKAT | 2017
|Resource-aware automotive control systems design
TIBKAT | 2017
|