Controller and Scheduler Codesign for Feedback Control Over IEEE 802.15.4 Networks
Edwin G. W. Peters, Daniel E. Quevedo, Minyue Fu · IEEE Transactions on Control Systems Technology · 2016
In this paper, we examine the impact of the scheduling policy on the performance for feedback control over networks based on a hybrid communication protocol, which incorporates both contention-free and contention-based medium access. We investigate the possibilities and limitations of feedback control in the IEEE 802.15.4 specification and state the problem of scheduling when the controller both utilizes the contention-based and guaranteed parts of the protocol. We propose and compare a number of scheduler-controller codesign algorithms that take both the contention-based and guaranteed parts of the protocol into account using an approximation to an infinite horizon linear quadratic cost function. The simulation studies show that a careful codesign of the scheduler-controller results in significant performance gains, when using both online and offline scheduling policies.