TY - JOUR
T1 - Scaling Beyond Bandwidth Limitations: Wireless Control With Stability Guarantees Under Overload
AU - Mager, Fabian
AU - Baumann, Dominik
AU - Herrmann, Carsten
AU - Trimpe, Sebastian
AU - Zimmerling, Marco
PY - 2022/9/7
Y1 - 2022/9/7
N2 - An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots in smart manufacturing. However, the scalability of existing control-over-wireless solutions is limited as they cannot resolve overload situations in which the communication demand exceeds the available bandwidth. This paper presents a novel co-design of distributed control and wireless communication that overcomes this limitation by dynamically allocating the available bandwidth to agents with the greatest need to communicate. Experiments on a real cyber-physical testbed with 20 agents, each consisting of a low-power wireless embedded device and a cart-pole system, demonstrate that our solution achieves significantly better control performance under overload than the state of the art. We further prove that our co-design guarantees closed-loop stability for physical systems with stochastic linear time-invariant dynamics.
AB - An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots in smart manufacturing. However, the scalability of existing control-over-wireless solutions is limited as they cannot resolve overload situations in which the communication demand exceeds the available bandwidth. This paper presents a novel co-design of distributed control and wireless communication that overcomes this limitation by dynamically allocating the available bandwidth to agents with the greatest need to communicate. Experiments on a real cyber-physical testbed with 20 agents, each consisting of a low-power wireless embedded device and a cart-pole system, demonstrate that our solution achieves significantly better control performance under overload than the state of the art. We further prove that our co-design guarantees closed-loop stability for physical systems with stochastic linear time-invariant dynamics.
KW - Electrical Engineering and Systems Science - Systems and Control
KW - Computer Science - Multiagent Systems
KW - Computer Science - Networking and Internet Architecture
UR - http://adsabs.harvard.edu/abs/2021arXiv210407989M
U2 - 10.48550/arXiv.2104.07989
DO - 10.48550/arXiv.2104.07989
M3 - Article
SN - 2378-962X
VL - 6
JO - ACM Transactions on Cyber-Physical Systems
JF - ACM Transactions on Cyber-Physical Systems
IS - 3
ER -