Stochastic event-based control and scheduling of large-scale networked control systems

Abstract

Using a multi-purpose communication network in large-scale control systems raises new opportunities and challenges. Among others, the challenges result mostly from variable communication delays, medium access constraints, and resource constraints. A design strategy which considers all of these challenges in one framework is of special importance. For this purpose, an event-based control and scheduling (EBCS) codesign strategy for large-scale networked control systems with all aforementioned challenges is proposed in this paper. The communication delay is represented as an uncertain variable belonging to a finite set of different bounded intervals where the transition between them is according to a stochastic process. The proposed EBCS strategy is formulated as an LMI optimization problem and evaluated for a simultaneous guidance of three mobile robots.