Computer Engineering Commons^™

The Wireless Control Network: Synthesis And Robustness, Miroslav Pajic, Shreyas Sundaram, Jerome Le Ny, George J. Pappas, Rahul Mangharam

Rahul Mangharam

We consider the problem of stabilizing a plant with a network of resource constrained wireless nodes. Traditional networked control schemes are designed with one of the nodes in the network acting as a dedicated controller, while the other nodes simply route information to and from the controller and the plant. We introduce the concept of a Wireless Control Network (WCN) where the entire network itself acts as the controller. Specifically, at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. We show that this causes the entire …