Multivariable Feedback Control: Analysis and Design
Multivariable Feedback Control: Analysis and Design
Linear Systems
A Unified Algebric Approach to Control Design
A Unified Algebric Approach to Control Design
FireFly: a cross-layer platform for real-time embedded wireless networks
Real-Time Systems
Scalable scheduling algorithms for wireless networkedcontrol systems
CASE'09 Proceedings of the fifth annual IEEE international conference on Automation science and engineering
Multihop multi-channel scheduling for wireless control in wirelessHART networks
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
High-resolution, low-power time synchronization an oxymoron no more
Proceedings of the 9th ACM/IEEE International Conference on Information Processing in Sensor Networks
Embedded Virtual Machines for Robust Wireless Control and Actuation
RTAS '10 Proceedings of the 2010 16th IEEE Real-Time and Embedded Technology and Applications Symposium
Real-Time Scheduling for WirelessHART Networks
RTSS '10 Proceedings of the 2010 31st IEEE Real-Time Systems Symposium
Capture effect based communication primitives: closing the loop in wireless cyber-physical systems
Proceedings of the 10th ACM Conference on Embedded Network Sensor Systems
Realistic case studies of wireless structural control
Proceedings of the ACM/IEEE 4th International Conference on Cyber-Physical Systems
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We present a distributed scheme used for control over a network of 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, Wireless Control Network (WCN), treats the network itself as the controller. In other words, the computation of the control law is done in a fully distributed way inside the network. We extend the basic WCN strategy, 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. This causes the entire network to behave as a linear dynamical system, with sparsity constraints imposed by the network topology. We demonstrate that with observer style updates, the WCN's robustness to link failures is substantially improved. Furthermore, we show how to design a WCN that can maintain stability even in cases of node failures. We also address the problem of WCN synthesis with guaranteed optimal performance of the plant, with respect to standard cost functions. We extend the synthesis procedure to deal with continuous-time plants and demonstrate how the WCN can be used on a practical, industrial application, using a process-in-the-loop setup with real hardware.