Delay-sensitive Joint Optimal Control and Resource Management in Multi-loop Networked Control Systems
Authors : Mohammad H. Mamduhi,, Dipankar Maity,, Sandra Hirche, John S. Baras, and Karl H. Johansson
Journal : IEEE Transactions on Control of Network Sysems
Publication Date : April 20th, 2021
In the operation of networked control systems, where multiple processes share a resource-limited and time-varying cost-sensitive network, communication delay is inevitable and primarily induced by, first, intermittent
sensor sampling to restrict non-urgent transmissions, and second, resource management to avoid contentions, excessive traffic, and data loss. In a heterogeneous scenario, where control systems may tolerate only specific levels of sensor-to-controller latency, delay sensitivities need to be considered in the design of control and network policies to achieve the desired performance guarantees.We propose a cross-layer optimal co-design of control, sampling and resource management policies for an NCS consisting of multiple stochastic linear time-invariant systems which close their sensor-to-controller links over a shared network. Aligned with advanced communication technology, we assume that the network offers a range of latency-varying transmission services for given prices. The performance of the local closed-loop systems is measured by a combination of linear-quadratic Gaussian cost and a suitable communication cost, and the overall objective is to minimize a defined social cost by all three policy makers. We derive optimal control, sampling and resource allocation policies under different cross-layer awareness models, including constant and time-varying parameters, and show that higher awareness generally leads to performance enhancement at the expense of higher computational complexity. This trade-off is shown to be a key feature to select the proper interaction structure for the co-design.