Optimal scheduling of downlink communication for a multi-agent system with a central observation post

Mario Zanon*, Themistoklis Charalambous, Henk Wymeersch, Paolo Falcone

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

8 Citations (Scopus)

Abstract

In this letter, we consider a set of agents, which may receive an observation of their state by a central observation post via a shared wireless network. The aim of this letter is to design a scheduling mechanism for the central observation post to decide how to allocate the available communication resources. The problem is tackled in two phases: first, the local controllers are designed so as to stabilize the subsystems for the case of perfect communication and second, the communication schedule is decided with the aim of maximizing the stability of the subsystems. To this end, we formulate an optimization problem which explicitly minimizes the Lyapunov function increase due to communication limitations. We show how the proposed optimization can be expressed in terms of value of information, we prove Lyapunov stability in probability and we test our approach in simulations.

Original languageEnglish
Pages (from-to)37-42
Number of pages6
JournalIEEE Control Systems Letters
Volume2
Issue number1
DOIs
Publication statusPublished - 1 Jan 2018
MoE publication typeA1 Journal article-refereed

Keywords

  • Agents-based systems
  • Control over communications
  • Networked control systems

Fingerprint Dive into the research topics of 'Optimal scheduling of downlink communication for a multi-agent system with a central observation post'. Together they form a unique fingerprint.

  • Cite this