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Authors: | Fabian Mager, Dominik Baumann, Romain Jacob, Lothar Thiele, Sebastian Trimpe, Marco Zimmerling |
Group: | Computer Engineering |
Type: | Article |
Title: | Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks |
Year: | 2018 |
Month: | April |
Journal: | arXiv.org |
Keywords: | SN |
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. |
Resources: | [BibTeX] [ External LINK ] [Paper as PDF] |