Optimal scheduling and control for constrained multi-agent networked control systems
Artikel i vetenskaplig tidskrift, 2021

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

Författare

Masoud Bahraini

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Mario Zanon

IMT Alti Studi Lucca

Alessandro Colombo

Politecnico di Milano

Paolo Falcone

Universita Degli Studi Di Modena E Reggio Emilia

Chalmers, Elektroteknik, System- och reglerteknik, Mekatronik

Optimal Control Applications and Methods

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

Vol. In Press

Ämneskategorier

Datorteknik

Reglerteknik

Datorsystem

DOI

10.1002/oca.2777

Mer information

Senast uppdaterat

2021-09-14