Modular design of jointly optimal controllers and forwarding policies for wireless control

TL;DR

This paper presents a modular approach to jointly optimize packet forwarding and control policies in wireless networks, improving reliability and energy efficiency for control systems over unreliable multi-hop wireless links.

Contribution

It introduces a novel modular framework that separates the joint design problem into two independent subproblems with optimal solutions, enabling efficient co-design of controllers and forwarding policies.

Findings

Optimal solutions for transmission scheduling and control under packet loss.

Efficient co-design method for wireless control systems.

Numerical results demonstrating trade-offs and effectiveness.

Abstract

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.