Scheduling of over-actuated networked control systems. Issue 13 (2022)

• Record Type: Journal Article
• Authors: Kreiss, J.; Postoyan, R.; Nešić, D.; Heemels, W.P.M.H.
• Is Part Of: IFAC-PapersOnLine. Volume 55:Issue 13(2022)
• Page Start: 25
• Page End: 30
• Publication Date: 2022
• Subjects: Networked control systems -- over-actuated systems -- hybrid systems -- stability of hybrid systems -- Lyapunov methods; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2022.07.230
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: We investigate the scenario where an over-actuated plant is controlled over a network. We concentrate on the effect of two network-induced phenomena: varying transmission intervals and scheduling, in the sense that only one of the actuators receives new data at each transmission instant. We present an emulation-based solution for the controller design, i.e., the controller is first designed to stabilize the origin of the plant ignoring the network and second, the packet-based network is taken into account and conditions on the maximum allowable transmission interval (MATI) and the scheduling protocol are given to preserve the stability of the closed-loop system. Our results are tailored to over-actuated plants leading to significant improvements compared to applying off-the-shelf results available in the literature. In particular, a new model is derived and new conditions on the scheduling protocol are given, which lead to a two-measure stability property for the networked control system. We illustrate how new classes of scheduling protocols can be derived by exploiting over-actuation, which leads to larger MATI bounds compared to applying existing results, as shown on a numerical example.