Abstract
Event-triggered control ( ETC ) holds the potential to significantly improve the efficiency of wireless networked control systems. Unfortunately, its real-world impact has hitherto been hampered by the lack of a network stack able to transfer its benefits from theory to practice specifically by supporting the latency and reliability requirements of the aperiodic communication ETC induces. This is precisely the contribution of this article. Our Wireless Control Bus ( WCB ) exploits carefully orchestrated network-wide floods of concurrent transmissions to minimize overhead during quiescent, steady-state periods, and ensures timely and reliable collection of sensor readings and dissemination of actuation commands when an ETC triggering condition is violated. Using a cyber-physical testbed emulating a water distribution system controlled over a real-world multi-hop wireless network, we show that ETC over WCB achieves the same quality of periodic control at a fraction of the energy costs, therefore unleashing and concretely demonstrating its full potential for the first time.
Highlights
As a result of the joint effort of academia and industry, low-power wireless sensor networks (WSNs) are today a well-established technology, proven to be very dependable and energyefficient
It is important to remark that the savings Event-triggered control (ETC) can provide w.r.t. periodic control are highly dependent on the control problem at hand, as the average PETC sampling frequency depends in non-trivial ways on the system dynamics, control design, and triggering mechanism
This is a witness of the consistent performance of Wireless Control Bus (WCB)-E in terms of reliability and latency, analyzed : practical control aspects like measurement noise induce significantly higher variations in ETC sampling than the vagaries of the wireless communication
Summary
As a result of the joint effort of academia and industry, low-power wireless sensor networks (WSNs) are today a well-established technology, proven to be very dependable and energyefficient. In the last 20 years, they have become the leading solution in a wide domain of applications, including environmental monitoring [11], wildlife tracking [42], smart cities [12], and the Internet of Things (IoT) at large [44] This is due to the high scalability and (re)placement flexibility, yielding lower installation and maintenance costs, and to ever-improving computing and communication features available on their untethered, autonomously powered, small hardware footprint. Modern controllers depend on the reliable and timely communication of relatively small data packets containing measurements and commands, generated frequently at the sensors and controller Guaranteeing these properties is challenging in the large-scale, multi-hop scenarios that are often the main reason for a wireless approach. The design of low-power wireless protocol stacks capable of minimizing communication without hampering control performance is of utmost importance for the widespread adoption of wireless control systems
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