Multihop TDMA-Based Wireless Networked Control Systems Robust against Bursty Packet Losses: A Two-Path Approach

Keisuke NAKASHIMA  Takahiro MATSUDA  Masaaki NAGAHARA  Tetsuya TAKINE  

IEICE TRANSACTIONS on Communications   Vol.E103-B   No.3   pp.200-210
Publication Date: 2020/03/01
Publicized: 2019/08/27
Online ISSN: 1745-1345
DOI: 10.1587/transcom.2019EBP3110
Type of Manuscript: PAPER
Category: Network
WNCS,  multihop TDMA,  bursty packet losses,  two-disjoint-path switching,  link scheduling,  cross-layer design,  

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Wireless networked control systems (WNCSs) are control systems whose components are connected through wireless networks. In WNCSs, a controlled object (CO) could become unstable due to bursty packet losses in addition to random packet losses and round-trip delays on wireless networks. In this paper, to reduce these network-induced effects, we propose a new design for multihop TDMA-based WNCSs with two-disjoint-path switching, where two disjoint paths are established between a controller and a CO, and they are switched if bursty packet losses are detected. In this system, we face the following two difficulties: (i) link scheduling in TDMA should be done in such a way that two paths can be switched without rescheduling, taking into account of the constraint of control systems. (ii) the conventional cross-layer design method of control systems is not directly applicable because round-trip delays may vary according to the path being used. Therefore, to overcome the difficulties raised by the two-path approach, we reformulate link scheduling in multihop TDMA and cross-layer design for control systems. Simulation results confirm that the proposed WNCS achieves better performance in terms of the 2-norm of CO's states.