Modular Design of Jointly Optimal Controllers and Forwarding Policies for Wireless Control
The authors consider the joint design of forwarding policies and controllers for wireless control loops where sensor measurements are sent over an unreliable multi-hop wireless network to the controller node. For fixed sampling rate of the control loop, the co-design problem separates into two well-defined and independent sub-problems: transmission scheduling for maximizing the delay-constrained reliability and optimal control under packet loss. They develop optimal solutions for these sub-problems and show that the optimally co-designed system can be found by a one-dimensional search over the sampling interval. Several numerical examples illustrate the power of their approach.