Mobility

Modular Design of Jointly Optimal Controllers and Forwarding Policies for Wireless Control

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Executive Summary

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.

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