Cooperative Dynamic MPC for Networked Control Systems

  • I. Jurado
  • D. E. Quevedo
  • K. H. Johansson
  • A. Ahlén
Chapter

Abstract

This work studies cooperative MPC for Networked Control Systems with multiple wireless nodes. Communication between nodes is affected by random packet dropouts. An algorithm is presented to decide at each time instant which nodes will calculate the control input and which will only relay data. The nodes chosen to calculate the control values solve a cooperative MPC by communicating with their neighbors. This algorithm makes the control architecture flexible by adapting it to the possible changes in the network conditions.

References

  1. 1.
    G.N. Nair, F. Fagnani, S. Zampieri, R.J. Evans, Feedback control under data rate constraints: An overview. Proc. IEEE (Special Issue on Technology of Networked Control Systems) 95(1), 108–137 (2007)Google Scholar
  2. 2.
    D.E. Quevedo, E.I. Silva, G.C. Goodwin, Subband coding for networked control systems. Int. J. Robust Nonlinear Control 19(16), 1817–1836 (2009)MathSciNetCrossRefGoogle Scholar
  3. 3.
    A.S. Matveev, A.V. Savkin, Estimation and Control over Communication Networks. \(Birk\ddot{a}usser\). (Boston, 2009)Google Scholar
  4. 4.
    D. Quevedo, J. Østergaard, D. Nešić, Packetized predictive control of stochastic systems over bit-rate limited channels with packet loss. IEEE Trans. Autom. Control 56(12), 2854–2868 (2011)CrossRefGoogle Scholar
  5. 5.
    E.A. Jorswieck, E.G. Larsson, M. Luise, H.V. Poor, Game theory and the flat-fading Gaussian interference channel. IEEE Signal Process. Mag. (Special Issue on Game Theory in Signal Processing and Communications) 26(5), 18–27 (2009)Google Scholar
  6. 6.
    E. Altman, T. Boulogne, R. El-Azouzi, T. Jiménez, L. Wynter, A survey on networking games in telecommunications. Comput. Oper. Res. 33(2), 286–311 (2006)MathSciNetCrossRefMATHGoogle Scholar
  7. 7.
    F. Xiao, L. Wang, Consensus protocols for discrete-time multi-agent systems with time-varying delays. Automatica 44(10), 2577–2582 (2008)MathSciNetCrossRefMATHGoogle Scholar
  8. 8.
    J. Chen, K.H. Johansson, S. Olariu, I.C. Paschalidis, I. Stojmenovic, Guest editorial special issue on wireless sensor and actuator networks. IEEE Trans. Autom. Control 56(10), 2244–2246 (2011)MathSciNetCrossRefGoogle Scholar
  9. 9.
    D.E. Quevedo, K.H. Johansson, A. Ahlén, I. Jurado, Dynamic controller allocation for control over erasure channels. in Proceedings of 3rd IFAC Workshop on Distributed Estimation and Control in Networked Systems, Santa Barbara, CA, 2012Google Scholar
  10. 10.
    A.N. Venkat, J.B. Rawlings, S.J. Wright. Distributed model predictive control of large-scale systems. in In Assessment and Future Directions of Nonlinear Model Predictive Control. (Springer, Berlin, 2007) pp. 591–605Google Scholar
  11. 11.
    C.L. Robinson, P.R. Kumar, Optimizing controller location in networked control systems with packet drops. IEEE J. Sel. Areas Commun. 26(4), 661–671 (2008)CrossRefGoogle Scholar
  12. 12.
    E. Garone, B. Sinopoli, A. Casavola, LQG control over lossy TCP-like networks with probabilistic packet acknowledgements. Int. J. Syst. Control Commun. 2(1,2,3), 55–81 (2010).Google Scholar
  13. 13.
    O.C. Imer, S. Yüksel, T. Basar, Optimal control of LTI systems over unreliable communication links. Automatica 42(9), 1429–1439 (2006)MathSciNetCrossRefMATHGoogle Scholar
  14. 14.
    K.J. Åström, Introduction to Stochastic Control Theory (Dover Publications Inc., Mineola, 2006)MATHGoogle Scholar
  15. 15.
    D.E. Quevedo, A. Ahlén, K.H. Johansson. State estimation over sensor networks with correlated wireless fading channels. IEEE Trans. Automatic Control (Accepted for publication)Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • I. Jurado
    • 1
  • D. E. Quevedo
    • 2
  • K. H. Johansson
    • 3
  • A. Ahlén
    • 4
  1. 1.Departamento de Ingeniería de Sistemas y AutomáticaEscuela Superior de Ingenieros, Universidad de SevillaSevillaSpain
  2. 2.School of Electrical Engineering and Computer ScienceThe University of NewcastleNewcastleAustralia
  3. 3.ACCESS Linnaeus Centre, School of Electrical EngineeringRoyal Institute of TechnologyStockholmSweden
  4. 4.Department of Engineering Sciences, Signals and SystemsUppsala UniversityUppsalaSweden

Personalised recommendations