Scheduling measurements and controls over networks, part II: Rollout strategies for simultaneous protocol and controller design

D.J. Guerreiro Tome Antunes, W.P.M.H. Heemels, J.P. Hespanha, C.J. Silvestre

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Abstract

We consider a networked control system where a plant is connected to a remote controller via a shared network that allows only one user to transmit at a given time. At each transmission time, the controller decides between sampling one of the plant's sensors or transmitting control data to the plant. We tackle the problem of simultaneously designing a policy for scheduling decisions and a policy for control inputs so as to optimize a quadratic objective. Using the framework of dynamic programming, we propose a rollout strategy by which the scheduling and control decisions are determined at each transmission time as the ones that lead to optimal performance over a given horizon assuming that from then on controller and sensors transmit in a periodic order and the control law is a standard optimal law for periodic systems. We show that this rollout strategy results in a protocol where scheduling decisions are based on the state estimate and error covariance matrix of a Kalman estimator, and must be determined on-line. We contrast the solution to this problem with the solution to the seemingly similar sensor scheduling problem where optimal scheduling decisions can be determined off-line. We highlight how the protocol obtained from the rollout algorithm can be implemented in a distributed way in broadcast networks. Moreover, it follows by construction of rollout algorithms that our proposed scheduling method can outperform any periodic scheduling of transmissions.
Original languageEnglish
Title of host publicationProceedings of the American Control Conference (ACC 2012), 27-29 June 2012, Montreal, Canada
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Pages2042-2047
ISBN (Print)978-1-4673-2102-0
Publication statusPublished - 2012

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Scheduling
Controllers
Sensors
Networked control systems
Time varying systems
Covariance matrix
Dynamic programming
Sampling

Cite this

Guerreiro Tome Antunes, D. J., Heemels, W. P. M. H., Hespanha, J. P., & Silvestre, C. J. (2012). Scheduling measurements and controls over networks, part II: Rollout strategies for simultaneous protocol and controller design. In Proceedings of the American Control Conference (ACC 2012), 27-29 June 2012, Montreal, Canada (pp. 2042-2047). Piscataway: Institute of Electrical and Electronics Engineers.
Guerreiro Tome Antunes, D.J. ; Heemels, W.P.M.H. ; Hespanha, J.P. ; Silvestre, C.J. / Scheduling measurements and controls over networks, part II: Rollout strategies for simultaneous protocol and controller design. Proceedings of the American Control Conference (ACC 2012), 27-29 June 2012, Montreal, Canada. Piscataway : Institute of Electrical and Electronics Engineers, 2012. pp. 2042-2047
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Guerreiro Tome Antunes, DJ, Heemels, WPMH, Hespanha, JP & Silvestre, CJ 2012, Scheduling measurements and controls over networks, part II: Rollout strategies for simultaneous protocol and controller design. in Proceedings of the American Control Conference (ACC 2012), 27-29 June 2012, Montreal, Canada. Institute of Electrical and Electronics Engineers, Piscataway, pp. 2042-2047.

Scheduling measurements and controls over networks, part II: Rollout strategies for simultaneous protocol and controller design. / Guerreiro Tome Antunes, D.J.; Heemels, W.P.M.H.; Hespanha, J.P.; Silvestre, C.J.

Proceedings of the American Control Conference (ACC 2012), 27-29 June 2012, Montreal, Canada. Piscataway : Institute of Electrical and Electronics Engineers, 2012. p. 2042-2047.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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AB - We consider a networked control system where a plant is connected to a remote controller via a shared network that allows only one user to transmit at a given time. At each transmission time, the controller decides between sampling one of the plant's sensors or transmitting control data to the plant. We tackle the problem of simultaneously designing a policy for scheduling decisions and a policy for control inputs so as to optimize a quadratic objective. Using the framework of dynamic programming, we propose a rollout strategy by which the scheduling and control decisions are determined at each transmission time as the ones that lead to optimal performance over a given horizon assuming that from then on controller and sensors transmit in a periodic order and the control law is a standard optimal law for periodic systems. We show that this rollout strategy results in a protocol where scheduling decisions are based on the state estimate and error covariance matrix of a Kalman estimator, and must be determined on-line. We contrast the solution to this problem with the solution to the seemingly similar sensor scheduling problem where optimal scheduling decisions can be determined off-line. We highlight how the protocol obtained from the rollout algorithm can be implemented in a distributed way in broadcast networks. Moreover, it follows by construction of rollout algorithms that our proposed scheduling method can outperform any periodic scheduling of transmissions.

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Guerreiro Tome Antunes DJ, Heemels WPMH, Hespanha JP, Silvestre CJ. Scheduling measurements and controls over networks, part II: Rollout strategies for simultaneous protocol and controller design. In Proceedings of the American Control Conference (ACC 2012), 27-29 June 2012, Montreal, Canada. Piscataway: Institute of Electrical and Electronics Engineers. 2012. p. 2042-2047