Anytime Control under Practical Communication Model

TL;DR

This paper introduces an anytime control algorithm for wireless networked control systems that accounts for random packet dropouts and variable computational resources, ensuring stability through a novel cycle-cost approach.

Contribution

It proposes a new anytime control method with a dual-buffer mechanism and stability conditions for systems with Markovian network and computational dynamics.

Findings

Stability conditions derived for nonlinear plants under network uncertainties.

Effective handling of packet dropouts with dual-buffer mechanism.

Applicability to systems with correlated channel states.

Abstract

We investigate a novel anytime control algorithm for wireless networked control with random dropouts. The controller computes sequences of tentative future control commands using time-varying (Markovian) computational resources. The sensor-controller and controller-actuator channel states are spatial- and time-correlated, and are modeled as a multi-state Markov process. To compensate for the effect of packet dropouts, a dual-buffer mechanism is proposed. We develop a novel cycle-cost-based approach to obtain the stability conditions on the nonlinear plant, controller, network and computational resources.