Hierarchical Integrated Communication and Control
Abstract
A fundamental challenge in designing networked control systems is that communication and control are not. in general, decoupled from each other. In order to address this challenge, the methods used in this project fundamentally integrated the tools, capabilities and constraints of both control theory and networking. The proposed solution enabled leveraging of existing seminal works in both fields. It also allowed for a cross-layer rethinking of the wireless networks for control applications. In particular, results both in theory and experiment showed that the above analysis can be extended and used to balance the performance of the controller and energy efficiency of communication schemes. Via an integrated set of simulations, the proposed design was illustrated not only in terms of the dynamical performance of formations, e.g. rate of convergence, but also in terms of energy efficiency and communication overhead. Vehicles were modeled as constant speed with controlled heading and were given the task of inducing the group centroid to track a target. Dynamic communication was incorporated via discretization of the dynamics, and nonlinear coordinated control was based on oscillator models. Results were demonstrated in simulation and in hardware.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jan 01, 2009
- Accession Number
- ADA494810
Entities
People
- Kristi Morgansen
- Tara Javidi
Organizations
- University of Washington