Multi-hopping induced gain scheduling for wireless networked controlled systems

George Nikolakopoulos, Athanasia Panousopoulou, Anthony Tzes, John Lygeros

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A multi-hopping induced gain scheduler for Wireless Networked Controlled Systems (WiNCS) is proposed. The control scheme is based on a client-server architecture. The data packets are assumed to be carried over a network composed of wireless sensor nodes running the 802.11b protocol. The number of hops necessary for packets to reach their destinations is variable and depends on current traffic conditions. Changes in the number of hops induces changes in the latency times introduced by the communication network in the feedback loop. To deal with these changes an LQR-output feedback scheme is introduced, whose parameters are adjusted according to the number of the hops. The weights of the LQR controllers are subsequently tuned using LMIs to ensure a prescribed stability margin despite the variable latency times. The overall scheme resembles a gain scheduled controller with the number of hops playing the role of the scheduling parameter. Simulation results on the NS-2 simulator are provided to highlight the efficacy of the proposed scheme.

Original languageEnglish (US)
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Pages470-475
Number of pages6
DOIs
StatePublished - 2005
Event44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 - Seville, Spain
Duration: Dec 12 2005Dec 15 2005

Publication series

NameProceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Volume2005

Other

Other44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
CountrySpain
CitySeville
Period12/12/0512/15/05

Keywords

  • LMI
  • Networked controlled system
  • Time delayed systems
  • Wireless sensor networks

ASJC Scopus subject areas

  • Engineering(all)

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