On the stability of prioritized error-based scheduling for resource-constrained networked control systems

Mohammad H. Mamduhi, Adam Molin, Sandra Hirche

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations

Abstract

The efficient usage of scarce communication resources is a vital necessity in networked control systems. This paper introduces a novel stochastic scheduling scheme for networked control systems with shared access through dynamic priority assignment. The overall system is assumed to consist of multiple control loops closed over a common communication network. A p-powered prioritized error-based (PEB) scheduler decides which transmission requests have the priority for channel access, and subsequently which controllers are updated with the actual states. According to the protocol, the likelihood to allocate the resource to a subsystem increases with a growing p-powered norm of its network-induced error. We show, under very mild assumptions, that the described system scheduled by the PEB protocol is stochastically stable. Moreover, numerical simulations demonstrate a significant reduction of the network-induced error variance in comparison to the other scheduling protocols such as CSMA or round robin.

Original languageEnglish
Title of host publication4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2013 - Proceedings
PublisherIFAC Secretariat
Pages356-362
Number of pages7
EditionPART 1
ISBN (Print)9783902823557
DOIs
StatePublished - 2013
Event4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2013 - Koblenz, Germany
Duration: 25 Sep 201326 Sep 2013

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume4
ISSN (Print)1474-6670

Conference

Conference4th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NecSys 2013
Country/TerritoryGermany
CityKoblenz
Period25/09/1326/09/13

Keywords

  • Drift operator
  • Markov chain
  • Prioritized scheduling
  • Stochastic stability

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