Optimal scheduling and control for constrained multi-agent networked control systems
Journal article, 2022

In this paper, we study optimal control and communication schedule co-design for multi-agent networked control systems, with assuming shared parallel communication channels and uncertain constrained linear time-invariant discrete-time systems. To that end, we specify the communication demand for each system using an associated robust control invariant set and reachability analysis. We use these communication demands and invariant sets to formulate tube-based model predictive control and offline/online communication schedule co-design problems. Since the scheduling part includes an infinite dimension integer problem, we propose heuristics to find suboptimal solutions that guarantee robust constraints satisfaction and recursive feasibility. The effectiveness of our approach is illustrated through numerical simulations.

measurement scheduling

networked control systems

robust invariance


Masoud Bahraini

Chalmers, Electrical Engineering, Systems and control

Mario Zanon

IMT School for Advanced Studies

Alessandro Colombo

Polytechnic University of Milan

Paolo Falcone

University of Modena and Reggio Emilia

Chalmers, Electrical Engineering, Systems and control

Optimal Control Applications and Methods

0143-2087 (ISSN) 1099-1514 (eISSN)

Vol. 43 1 23-43

Subject Categories

Computer Engineering

Control Engineering

Computer Systems



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4/5/2022 5