Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks
arXiv PDF
Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals below 100 ms. Low-power wireless is preferred for its flexibility, low cost, and small form factor, especially if the devices support multi-hop communication. Thus far, however, closed-loop control over multi-hop low-power wireless has only been demonstrated for update intervals on the order of multiple seconds. This paper presents a wireless embedded system that tames imperfections impairing control performance such as jitter or packet loss, and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for linear dynamic systems. Using experiments on a testbed with multiple cart-pole systems, we are the first to demonstrate the feasibility and to assess the performance of closed-loop control and coordination over multi-hop low-power wireless for update intervals from 20 ms to 50 ms.
| Award: | (Best Paper Award) |
| Author(s): | Fabian Mager and Dominik Baumann and Romain Jacob and Lothar Thiele and Sebastian Trimpe and Marco Zimmerling |
| Links: | |
| Book Title: | Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems |
| Pages: | 97--108 |
| Year: | 2019 |
| Month: | April |
| Project(s): |
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| BibTeX Type: | Conference Paper (inproceedings) |
| DOI: | 10.1145/3302509.3311046 |
| Event Name: | 10th ACM/IEEE International Conference on Cyber-Physical Systems |
| Event Place: | Montreal, Canada |
| State: | Published |
| Award Paper: | Best Paper Award |
| Electronic Archiving: | grant_archive |
| ISBN: | 978-1-4503-6285-6 |
BibTeX
@inproceedings{mager18,
title = {Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks},
aword_paper = {Best Paper Award},
booktitle = {Proceedings of the 10th ACM/IEEE International Conference on Cyber-Physical Systems},
abstract = {Closing feedback loops fast and over long distances is key to emerging applications; for example, robot motion control and swarm coordination require update intervals below 100 ms. Low-power wireless is preferred for its flexibility, low cost, and small form factor, especially if the devices support multi-hop communication. Thus far, however, closed-loop control over multi-hop low-power wireless has only been demonstrated for update intervals on the order of multiple seconds. This paper presents a wireless embedded system that tames imperfections impairing control performance such as jitter or packet loss, and a control design that exploits the essential properties of this system to provably guarantee closed-loop stability for linear dynamic systems. Using experiments on a testbed with multiple cart-pole systems, we are the first to demonstrate the feasibility and to assess the performance of closed-loop control and coordination over multi-hop low-power wireless for update intervals from 20 ms to 50 ms. },
pages = {97--108},
month = apr,
year = {2019},
author = {Mager, Fabian and Baumann, Dominik and Jacob, Romain and Thiele, Lothar and Trimpe, Sebastian and Zimmerling, Marco},
doi = {10.1145/3302509.3311046},
month_numeric = {4}
}