Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees. Baumann, D., Mager, F., Jacob, R., Thiele, L., Zimmerling, M., & Trimpe, S. ACM Transactions on Cyber-Physical Systems, 4(2):18:1–18:32, November, 2019. ![Fast Feedback Control over Multi-hop Wireless Networks with Mode Changes and Stability Guarantees [link]](https://bibbase.org/img/filetypes/link.svg "link")
Paper doi abstract bibtex Closing feedback loops fast and over long distances is key to emerging cyber-physical applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless communication technology is preferred for its low cost, small form factor, and flexibility, especially if the devices support multi-hop communication. Thus far, however, feedback control over multi-hop low-power wireless networks has only been demonstrated for update intervals on the order of seconds. To fill this gap, this article presents a wireless embedded system that supports dynamic mode changes and tames imperfections impairing control performance (e.g., jitter and message loss), and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for physical processes with linear time-invariant dynamics in the presence of mode changes. Using experiments on a cyber-physical testbed with 20 wireless devices and multiple cart-pole systems, we are the first to demonstrate and evaluate feedback control and coordination with mode changes over multi-hop networks for update intervals of 20 to 50 milliseconds.
@article{baumann2019TCPS,
title = {Fast {Feedback} {Control} over {Multi}-hop {Wireless} {Networks} with {Mode} {Changes} and {Stability} {Guarantees}},
volume = {4},
issn = {2378-962X},
url = {https://doi.org/10.1145/3361846},
doi = {10.1145/3361846},
abstract = {Closing feedback loops fast and over long distances is key to emerging cyber-physical applications; for example, robot motion control and swarm coordination require update intervals of tens of milliseconds. Low-power wireless communication technology is preferred for its low cost, small form factor, and flexibility, especially if the devices support multi-hop communication. Thus far, however, feedback control over multi-hop low-power wireless networks has only been demonstrated for update intervals on the order of seconds. To fill this gap, this article presents a wireless embedded system that supports dynamic mode changes and tames imperfections impairing control performance (e.g., jitter and message loss), and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for physical processes with linear time-invariant dynamics in the presence of mode changes. Using experiments on a cyber-physical testbed with 20 wireless devices and multiple cart-pole systems, we are the first to demonstrate and evaluate feedback control and coordination with mode changes over multi-hop networks for update intervals of 20 to 50 milliseconds.},
number = {2},
urldate = {2020-01-23},
journal = {ACM Transactions on Cyber-Physical Systems},
author = {Baumann, Dominik and Mager, Fabian and Jacob, Romain and Thiele, Lothar and Zimmerling, Marco and Trimpe, Sebastian},
month = nov,
year = {2019},
keywords = {Wireless control, closed-loop stability, cyber-physical systems, industrial Internet of Things, mode changes, multi-agent systems, multi-hop networks, synchronous transmissions},
pages = {18:1--18:32}
}
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