Dynamic Controller Allocation for Control over Erasure Channels

Abstract

Wireless sensor-actuator networks offer flexibility in the design of networked control systems. One novel element when using networks with multiple nodes is that the role of individual nodes does not need to be fixed. In particular, there is no need to pre-allocate which nodes assume controller functions and which ones merely relay data. We present a flexible architecture for networked control using multiple nodes connected in series over analog erasure channels. The control architecture adapts to changes in network conditions, by allowing the role played by individual nodes to depend upon transmission outcomes.