MPC-based Co-design of Control and Routing for Wireless Sensor and Actuator Networks

• Published in: International journal of control, automation, and systems Vol. 16; no. 3; pp. 953 - 960
• Main Authors: Satoh, Dai, Kobayashi, Koichi, Yamashita, Yuh
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.06.2018; 제어·로봇·시스템학회
• Subjects: Control; Engineering; Mechatronics; Regular Papers; Robotics; 제어계측공학; model predictive control; mixed logical dynamical system; wireless sensor and actuator networks; Co-design of control and routing
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-017-0170-7

A wireless sensor and actuator network (WSAN) is a class of networked control systems. In WSANs, sensors and actuators are located in a distributed way, and communicate to controllers through a wireless communication network such as a multi-hop network. In this paper, we propose a model predictive control (MPC) method for co-design of control and routing of WSANs. MPC is an optimal control strategy based on numerical optimization. The control input is calculated by solving the finite-time optimal control problem at each discrete time. In the proposed method, a WSAN is modeled by a switched linear system. In the finite-time optimal control problem, a control input and a mode corresponding to a communication path are optimized simultaneously. The proposed method is demonstrated by a numerical example.