The Wireless Control Network: a New Approach for Control Over Networks
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University of Pennsylvania ScholarlyCommons Real-Time and Embedded Systems Lab (mLAB) School of Engineering and Applied Science 2011 The Wireless Control Network: A New Approach for Control over Networks Miroslav Pajic University of Pennsylvania, [email protected] Shreyas Sundaram University of Waterloo, [email protected] George Pappas University of Pennsylvania, [email protected] Rahul Mangharam University of Pennsylvania, [email protected] Follow this and additional works at: https://repository.upenn.edu/mlab_papers Part of the Controls and Control Theory Commons, Electrical and Electronics Commons, and the Systems and Communications Commons Recommended Citation Miroslav Pajic, Shreyas Sundaram, George Pappas, and Rahul Mangharam, "The Wireless Control Network: A New Approach for Control over Networks", . January 2011. Suggested Citation: M. Pajic, S. Sundaram, G.J. Pappas and R. Mangharam, "The Wireless Control Network: A New Approach for Control over Networks", IEEE Transactions on Automatic Control, vol. 56, no. 10, pp. 2305-2318, October 2011. ©2011 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This paper is posted at ScholarlyCommons. https://repository.upenn.edu/mlab_papers/29 For more information, please contact [email protected]. The Wireless Control Network: A New Approach for Control over Networks Abstract We present a method to stabilize a plant with a network of resource constrained wireless nodes. As opposed to traditional networked control schemes where the nodes simply route information to and from a dedicated controller (perhaps performing some encoding along the way), our approach treats the network itself as the controller. Specifically, we formulate a strategy for each node in the network to follow, where 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 provide a numerical design procedure to determine 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 bemodified ot maintain mean square stability under packet drops in the network, and present a distributed scheme that can handle node failures while preserving stability.We call this architecture aWireless Control Network, and show that it introduces very low computational and communication overhead to the nodes in the network, allows the use of simple transmission scheduling algorithms, and enables compositional design (where the existing wireless control infrastructure can be easily extended to handle new plants that are brought online in the vicinity of the network). Keywords Cooperative control, decentralized control, linear systems, networked control systems, wireless sensor networks Disciplines Controls and Control Theory | Electrical and Electronics | Systems and Communications Comments Suggested Citation: M. Pajic, S. Sundaram, G.J. Pappas and R. Mangharam, "The Wireless Control Network: A New Approach for Control over Networks", IEEE Transactions on Automatic Control, vol. 56, no. 10, pp. 2305-2318, October 2011. ©2011 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This journal article is available at ScholarlyCommons: https://repository.upenn.edu/mlab_papers/29 TRANSACTIONS ON AUTOMATIC CONTROL 1 The Wireless Control Network: A New Approach for Control over Networks Miroslav Pajic, Student Member, IEEE, Shreyas Sundaram, Member, IEEE, George J. Pappas, Fellow, IEEE and Rahul Mangharam, Member, IEEE, Abstract—We present a method to stabilize a plant with a to “hot-swap” between a faulty module and a backup module network of resource constrained wireless nodes. As opposed to via a simple activation command, and facilitates “plug-n-play” traditional networked control schemes where the nodes simply automation architectures which reduce downtime.1 Along the route information to and from a dedicated controller (perhaps performing some encoding along the way), our approach treats same lines, through the use of certain algorithms that satisfy the network itself as the controller. Specifically, we formulate a the principle of compositionality (where the existing setup can strategy for each node in the network to follow, where at each be easily extended for increased functionality and robustness), time-step, each node updates its internal state to be a linear wireless networks make it possible to incrementally upgrade combination of the states of the nodes in its neighborhood. systems in a straightforward manner. We show that this causes the entire network to behave as a linear dynamical system, with sparsity constraints imposed by Wireless networks also pose some interesting new chal- the network topology. We provide a numerical design procedure lenges. One problem arises due to the fundamental unreliabil- to determine appropriate linear combinations to be applied by ity of wireless communication; the probability that a wireless each node so that the transmissions of the nodes closest to the transmission will be received by a node’s neighbors depends actuators will stabilize the plant. We also show how our design on various factors, including the amount of power used to procedure can be modified to maintain mean square stability under packet drops in the network, and present a distributed transmit information, environmental factors that affect the scheme that can handle node failures while preserving stability. propagation characteristics of the channel, and collisions that We call this architecture a Wireless Control Network, and show might occur due to multiple nodes transmitting at the same that it introduces very low computational and communication time. Another problem is the need to maintain a reasonable overhead to the nodes in the network, allows the use of simple end-to-end delay in the network. The topic of designing transmission scheduling algorithms, and enables compositional design (where the existing wireless control infrastructure can be controllers that are tolerant to these types of issues has been easily extended to handle new plants that are brought online in intensively studied by researchers over the past decade [7], the vicinity of the network). [8], [9], [10], [11], [12]. The vast majority of work in this Index Terms—Networked control systems, cooperative control, area considers the case of a single sensing point and a single decentralized control, wireless sensor networks, linear systems. actuation point on the plant, and adopts the convention of having a dedicated controller/estimator located somewhere in the network. The stability of the closed loop system is then I. INTRODUCTION studied, assuming that the sensor-estimator and/or controller- NDUSTRIAL control systems are often deployed in large, actuator communication channels are unreliable (e.g., dropping I spatially distributed plants that involve numerous sensors, packets with a certain probability). While these and other actuators and internal process variables. The traditional means works have made great inroads into understanding the problem of interconnecting the various components of these systems of feedback control over networks, they have some potential has been via physical wires; this is often difficult to do (in drawbacks when it comes to implementation. First, the state hard-to-reach or dangerous areas), expensive (due to the labor vectors maintained by the controllers in these existing works and materials involved) and fault-prone (due to degradation typically have sizes on the order of the size of the plant’s state of wires, miswiring due to human error, etc.). Over the last vector, and intermediate nodes are also expected to perform decade, low-cost and reliable wireless networks have emerged operations on state vectors of similar size. However, devices as a practical method to alleviate these issues in automation in wireless networks are often battery operated and have systems [2], [3]. Besides the obvious physical benefit of reduc- severe resource constraints, allowing only a modest amount ing excessive wiring, these networks introduce a set of logical of computation and storage (examples of this are discussed in benefits [4]. For example, wireless communication allows one Section III). Also, by adding one (or a few) specialized nodes This research has been partially supported by the DARPA MuSyC, the capable of performing computationally expensive procedures, NSF-CNS 0931239 and NSF-MRI Grant 0923518. It has also been supported the control infrastructure becomes susceptible to failure on the by a grant from NSERC. Preliminary versions of some of these results have part of those nodes. A second drawback of these traditional ap- been presented in [1]. M. Pajic, G. J. Pappas and R. Mangharam are with the De- proaches is