Dwell-time-based energy scheduling and distributed control for large-scale nonlinear systems under Round-Robin protocol

Abstract

In this paper, a distributed control problem is investigated for large-scale nonlinear systems under Round-Robin (RR) protocol and the energy constraint. The large-scale system is composed of several interconnected nonlinear subsystems that are equipped with independent sensors. RR protocol is adapted to coordinate the data transmission of each sensor from the viewpoint of fairness. Moreover, an energy scheduling scheme is employed in response to the energy constraint by distributing high energy or low energy to sensors. The transmissions (between sensors and controllers) with high energy can be accurate. Correspondingly, the accessed data may be lost with a certain probability when sensors use low energy. This paper aims to design the scheduling scheme and distributed controllers jointly such that the stochastic finite-time boundedness (FTB) can be guaranteed for large-scale nonlinear systems with limited energy and communication protocols over a finite horizon. In light of the energy allocations and the induced packet dropout, novel distributed controllers are established for large-scale systems. Furthermore, the explicit expressions of the controller for each subsystem and the energy scheduling scheme with average dwell time (ADT) are derived by using recursive design methods combined with stochastic analysis. Finally, two simulation examples are given to demonstrate the effectiveness of the designed scheme and controllers.