engleski

Error-Dependent Data Scheduling in Resource-Aware Multi-Loop Networked Control Systems

In this work we address the problem of event-based data scheduling for multiple heterogeneous LTI control loops over a shared resource-constrained communication network. We introduce a novel bi-character scheduling scheme, which dynamically prioritizes the channel access at each time-step according to an error-dependent priority measure. Given local error thresholds for each control loop, the scheduling policy deterministically blocks the transmission from sub-systems with lower error values. The scheduler then allocates the limited communication resource probabilistically among the eligible sub-systems based on a prioritized measure. We prove stochastic stability of the networked control system under the proposed scheduler in terms of f-ergodicity of the overall network-induced error. Uniform analytical performance bounds are further derived for an average cost function comprised of a quadratic error term and transmission penalty. The simulation results show that our approach results in a significant reduction of the aggregate network-induced error variance compared to the conventional scheduling protocols.

networked control systems, Markov chain, error state, state-dependent scheduling, shared communication resource

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