Control and Communication-Schedule Co-design For Networked Control Systems
Doctoral thesis, 2023
In a networked control system (NCS), the control loop is closed through a communication medium. This means that sensor measurements and/or control signals can be exchanged through a communication link. NCSs have many benefits, such as wiring reduction (elimination in the case of wireless communication), installation cost reduction, and simplification of upgrades and restructuring. However, network congestion, impairments of the wireless links (such as bandwidth limitations, packet losses, delays, and noises) may degrade system performance and even cause instability. These issues have motivated a great deal of research over the past 20 years and have given rise to a number of approaches to prevent congestion and compensate for delays and/or packet losses.
An interesting class of NCSs that has not received enough attention is an NCS whose systems are uncertain and subject to state and inputs hard constraints.These hard constraints may stem from the system itself, its environment, or be proposed by the designer in order to guarantee safety or a certain performance.
The contribution of this thesis is introducing a design framework that guarantees robust constraint satisfaction for a class of multi-agent NCSs with a shared communication medium that is subject to bandwidth limitation and prone to packet losses.
The proposed framework is built upon reachability analysis to determine the communication demand for each system such that local constraints are satisfied and scheduling techniques to guarantee satisfaction of the communication demands. The thesis explores offline and online scheduling designs under various communication topologies, optimal control designs under state and output feedback, and scheduling and control co-design for NCSs with hard constraints.
An interesting class of NCSs that has not received enough attention is an NCS whose systems are uncertain and subject to state and inputs hard constraints.These hard constraints may stem from the system itself, its environment, or be proposed by the designer in order to guarantee safety or a certain performance.
The contribution of this thesis is introducing a design framework that guarantees robust constraint satisfaction for a class of multi-agent NCSs with a shared communication medium that is subject to bandwidth limitation and prone to packet losses.
The proposed framework is built upon reachability analysis to determine the communication demand for each system such that local constraints are satisfied and scheduling techniques to guarantee satisfaction of the communication demands. The thesis explores offline and online scheduling designs under various communication topologies, optimal control designs under state and output feedback, and scheduling and control co-design for NCSs with hard constraints.
Model Predictive Control
Networked Control Systems
Robust Invariance
Communication Scheduling
SB-L516, Samhällsbyggnad I-II, Sven Hultins Gata 6.
Opponent: Prof. Maria Prandini, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy.
Author
Masoud Bahraini
Chalmers, Electrical Engineering, Systems and control
Measurement Scheduling for Control Invariance in Networked Control Systems
Proceedings of the IEEE Conference on Decision and Control,;Vol. 2018-December(2018)p. 3361-3366
Paper in proceeding
Receding-horizon robust online communication scheduling for constrained networked control systems
2019 18th European Control Conference, ECC 2019,;(2019)p. 2969-2974
Paper in proceeding
Scheduling and Robust Invariance in Networked Control Systems
IEEE Transactions on Automatic Control,;Vol. 67(2022)p. 3075-3082
Journal article
Optimal Control Design for Perturbed Constrained Networked Control Systems
IEEE Control Systems Letters,;Vol. 5(2021)p. 553-558
Journal article
Optimal scheduling and control for constrained multi-agent networked control systems
Optimal Control Applications and Methods,;Vol. 43(2022)p. 23-43
Journal article
Robust Control Invariance for Networked Control Systems with Output Feedback
Proceedings of the IEEE Conference on Decision and Control,;Vol. 2022-December(2022)p. 7676-7681
Paper in proceeding
Communication Demand Minimization for Perturbed Networked Control Systems with Coupled Constraints; Masoud Bahraini, Mario Zanon, Alessandro Colombo, Paolo Falcone
In a networked control system (NCS), the control loop is closed through a communication medium. This means that sensor measurements and/or control signals can be exchanged through a communication link. NCSs have many benefits, such as wiring reduction (elimination in the case of wireless communication), installation cost reduction, and simplification of upgrades and restructuring. However, network congestion, impairments of the wireless links (such as bandwidth limitations, packet losses, delays, and noises) may degrade system performance and even cause instability. These issues have motivated a great deal of research over the past 20 years and have given rise to a number of approaches to prevent congestion and compensate for delays and/or packet losses.
An interesting class of NCSs that has not received enough attention is an NCS whose systems are uncertain and subject to state and inputs hard constraints.These hard constraints may stem from the system itself, its environment, or be proposed by the designer in order to guarantee safety or a certain performance.
The contribution of this thesis is introducing a design framework that guarantees robust constraint satisfaction for a class of multi-agent NCSs with a shared communication medium that is subject to bandwidth limitation and prone to packet losses.
The proposed framework is built upon reachability analysis to determine the communication demand for each system such that local constraints are satisfied and scheduling techniques to guarantee satisfaction of the communication demands. The thesis explores offline and online scheduling designs under various communication topologies, optimal control designs under state and output feedback, and scheduling and control co-design for NCSs with hard constraints.
An interesting class of NCSs that has not received enough attention is an NCS whose systems are uncertain and subject to state and inputs hard constraints.These hard constraints may stem from the system itself, its environment, or be proposed by the designer in order to guarantee safety or a certain performance.
The contribution of this thesis is introducing a design framework that guarantees robust constraint satisfaction for a class of multi-agent NCSs with a shared communication medium that is subject to bandwidth limitation and prone to packet losses.
The proposed framework is built upon reachability analysis to determine the communication demand for each system such that local constraints are satisfied and scheduling techniques to guarantee satisfaction of the communication demands. The thesis explores offline and online scheduling designs under various communication topologies, optimal control designs under state and output feedback, and scheduling and control co-design for NCSs with hard constraints.
Subject Categories
Control Engineering
ISBN
978-91-7905-895-1
Doktorsavhandlingar vid Chalmers tekniska högskola. Ny serie: 5361
Publisher
Chalmers
SB-L516, Samhällsbyggnad I-II, Sven Hultins Gata 6.
Opponent: Prof. Maria Prandini, Department of Electronics, Information and Bioengineering, Politecnico di Milano, Italy.