packet priority assignment for wireless control systems of ... · packet priority assignment for...
TRANSCRIPT
![Page 1: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/1.jpg)
Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems
Wenchen Wang, Daniel Mosse, and Alessandro V. Papadopoulos
May 8th, 2019 @ISORC, Valencia, Spain
![Page 2: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/2.jpg)
Interconnected World Made of Computing Systems
!2
![Page 3: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/3.jpg)
IoT Connections
4.1 Billion Connections
in 2024!!!
![Page 4: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/4.jpg)
![Page 5: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/5.jpg)
Photo-illustration: iStockphoto
![Page 6: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/6.jpg)
404 CAR NOT
FOUND
Photo-illustration: iStockphoto
![Page 7: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/7.jpg)
Wired Control System
Plant
Sensors
Controller ActuatorsTargets
& Objectives
Environment
![Page 8: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/8.jpg)
Wired Control System
Plant
Sensors
Controller ActuatorsTargets
& Objectives
Environment
![Page 9: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/9.jpg)
Wired Control System
Plant
Sensors
Controller ActuatorsTargets
& Objectives
Environment
![Page 10: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/10.jpg)
Wired Control System
Plant
Sensors
Controller ActuatorsTargets
& Objectives
Environment
![Page 11: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/11.jpg)
Wired Control System
Plant
Sensors
Controller ActuatorsTargets
& Objectives
Environment
![Page 12: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/12.jpg)
Wired Control System
Plant
Sensors
Controller ActuatorsTargets
& Objectives
Environment
Not easy to deploy and
maintain
![Page 13: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/13.jpg)
Wired Control System
Plant
Sensors
Controller ActuatorsTargets
& Objectives
Environment At most 4 robots can be connected to 1 cabinet
[Salman et al., Fog-IoT 2019]
Not easy to deploy and
maintain
![Page 14: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/14.jpg)
Wireless Control System (WCS)
Plant(s)
Sensors
Controller(s)
Actuators
Targets &
ObjectivesEnvironment
Network
Network
Delay and Message Loss
![Page 15: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/15.jpg)
0 0.2 0.4 0.6 0.8 1time
01020
PS1
105
0 0.2 0.4 0.6 0.8 1time
-1
0
1
PS2
0 0.2 0.4 0.6 0.8 1time
-1
0
1
PS3
Major Challenges of WCSInstability
When the physical system is unstable, the plant or the device can be damaged and leads to serious safety issues and financial loss.
Performance Degradation Induced additional error
Network-induced error
![Page 16: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/16.jpg)
0 0.2 0.4 0.6 0.8 1time
01020
PS1
105
0 0.2 0.4 0.6 0.8 1time
-1
0
1
PS2
0 0.2 0.4 0.6 0.8 1time
-1
0
1
PS3
Major Challenges of WCSInstability
When the physical system is unstable, the plant or the device can be damaged and leads to serious safety issues and financial loss.
Performance Degradation Induced additional error
Network-induced error
Unstable
![Page 17: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/17.jpg)
0 0.2 0.4 0.6 0.8 1time
01020
PS1
105
0 0.2 0.4 0.6 0.8 1time
-1
0
1
PS2
0 0.2 0.4 0.6 0.8 1time
-1
0
1
PS3
Major Challenges of WCSInstability
When the physical system is unstable, the plant or the device can be damaged and leads to serious safety issues and financial loss.
Performance Degradation Induced additional error
Network-induced error
Unstable
Degraded Performance
![Page 18: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/18.jpg)
Problem Formulation
Shared multi-hop networkDifferent paths p_1, p_2, …, p_m Each path with delay D_jTDMA fixed topologyTime-varying delivery ratio dr_j
Remote Controller
…
Multi-hop Network
N Physical Systems (PSs)Dynamic network reconfiguration in [Wang, RTNS 2018]
![Page 19: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/19.jpg)
Different Requirements, Shared Network
time
time
time
Demand
Demand
Demand
LO-Critical HI-Frequency
HI-Critical HI-Frequency
HI-Critical LO-Frequency
![Page 20: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/20.jpg)
Different Requirements, Shared Network
time
time
time
Demand
Demand
Demand
LO-Critical HI-Frequency
HI-Critical HI-Frequency
HI-Critical LO-Frequency
![Page 21: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/21.jpg)
Different Requirements, Shared Network
time
time
time
Demand
Demand
Demand
LO-Critical HI-Frequency
HI-Critical HI-Frequency
HI-Critical LO-Frequency
![Page 22: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/22.jpg)
Different Requirements, Shared Network
time
time
time
Demand
Demand
Demand
LO-Critical HI-Frequency
HI-Critical HI-Frequency
HI-Critical LO-Frequency
![Page 23: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/23.jpg)
Problem FormulationThe control is more or less difficult based on
Setpoint (or reference) tracking Nonlinearity of the controlled systemReliability of the communication path
![Page 24: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/24.jpg)
Problem FormulationThe control is more or less difficult based on
Setpoint (or reference) tracking Nonlinearity of the controlled systemReliability of the communication path
RCARequested
Change Amount
![Page 25: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/25.jpg)
Problem FormulationThe control is more or less difficult based on
Setpoint (or reference) tracking Nonlinearity of the controlled systemReliability of the communication path
RCARequested
Change Amount
RCDRequested
Change Duration
![Page 26: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/26.jpg)
Problem FormulationThe control is more or less difficult based on
Setpoint (or reference) tracking Nonlinearity of the controlled systemReliability of the communication path
Objective: Minimize Control performance degradation Induced by the wireless realizationWithout redesigning the control system
RCARequested
Change Amount
RCDRequested
Change Duration
![Page 27: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/27.jpg)
Problem FormulationThe control is more or less difficult based on
Setpoint (or reference) tracking Nonlinearity of the controlled systemReliability of the communication path
Objective: Minimize Control performance degradation Induced by the wireless realizationWithout redesigning the control system
RCARequested
Change Amount
RCDRequested
Change Duration
RMSEi = 1Ttrans
Ttrans
∑t= 0
∥yWi (t) − yWL
i (t)∥2
![Page 28: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/28.jpg)
Problem FormulationThe control is more or less difficult based on
Setpoint (or reference) tracking Nonlinearity of the controlled systemReliability of the communication path
Objective: Minimize Control performance degradation Induced by the wireless realizationWithout redesigning the control system
RCARequested
Change Amount
RCDRequested
Change Duration
RMSEi = 1Ttrans
Ttrans
∑t= 0
∥yWi (t) − yWL
i (t)∥2
Wired
![Page 29: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/29.jpg)
Problem FormulationThe control is more or less difficult based on
Setpoint (or reference) tracking Nonlinearity of the controlled systemReliability of the communication path
Objective: Minimize Control performance degradation Induced by the wireless realizationWithout redesigning the control system
RCARequested
Change Amount
RCDRequested
Change Duration
RMSEi = 1Ttrans
Ttrans
∑t= 0
∥yWi (t) − yWL
i (t)∥2
Wired Wireless
![Page 30: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/30.jpg)
Problem FormulationThe control is more or less difficult based on
Setpoint (or reference) tracking Nonlinearity of the controlled systemReliability of the communication path
Objective: Minimize Control performance degradation Induced by the wireless realizationWithout redesigning the control system
RCARequested
Change Amount
RCDRequested
Change Duration
RMSEi = 1Ttrans
Ttrans
∑t= 0
∥yWi (t) − yWL
i (t)∥2
Wired Wireless
Transient
![Page 31: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/31.jpg)
Problem FormulationThe control is more or less difficult based on
Setpoint (or reference) tracking Nonlinearity of the controlled systemReliability of the communication path
Objective: Minimize Control performance degradation Induced by the wireless realizationWithout redesigning the control system
RCARequested
Change Amount
RCDRequested
Change Duration
RMSEi = 1Ttrans
Ttrans
∑t= 0
∥yWi (t) − yWL
i (t)∥2
Wired Wireless
Transient
∀i ∈ Physical Systems
![Page 32: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/32.jpg)
Solution: Dynamic Packet Priority Assignment
Priority Assignment Static heuristic (baseline)Dynamic heuristicPID Dynamic heuristic
Path Selection Network Path Quality Determination
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection
![Page 33: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/33.jpg)
Static Heuristic - BaselineOffline analysis
Assuming no packet lossFor different requested changes in demand
For all PS i compute
Assign the priorities that minimise the averageDo not change the priorities online
rRMSEi(Tsim) = 1Tsim
Tsim
∑j= 0
∥ri( j) − yi( j)∥2
rRMSEi(Tsim)
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection
![Page 34: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/34.jpg)
Dynamic HeuristicAt every time t, for all PS i compute
Sort the PS i by
Assign the highest priority to the PS with highest value of
rRMSEi(t) = 1t
t
∑j= 0
∥ri( j) − yi( j)∥2
rRMSEi(t)
rRMSEi(t)
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection
![Page 35: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/35.jpg)
PID Dynamic HeuristicWe define the tracking error as
The priority for every PS i is computed as
strange formula, isn’t it?It is a PID controller!
ei(t) = |ri(t) − yi(t) |
πi(t) = KP (ei(t) + λt
t
∑i= 1
ei(t)) + KD (ei(t) − ei(t − 1))
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection
![Page 36: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/36.jpg)
PID Dynamic HeuristicWe define the tracking error as
The priority for every PS i is computed as
strange formula, isn’t it?It is a PID controller!
ei(t) = |ri(t) − yi(t) |
πi(t) = KP (ei(t) + λt
t
∑i= 1
ei(t)) + KD (ei(t) − ei(t − 1))
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection
![Page 37: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/37.jpg)
The Path Quality Model: PQModelAfter we determine the priority of the measurement packetsIncludes
Network delayNetwork reliability
We compute the path quality for all the paths as
PQ = Dnet + α nloss Δcsp
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection
![Page 38: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/38.jpg)
The Path Quality Model: PQModelAfter we determine the priority of the measurement packetsIncludes
Network delayNetwork reliability
We compute the path quality for all the paths as
PQ = Dnet + α nloss Δcsp
End-to-end delay
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection
![Page 39: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/39.jpg)
The Path Quality Model: PQModelAfter we determine the priority of the measurement packetsIncludes
Network delayNetwork reliability
We compute the path quality for all the paths as
PQ = Dnet + α nloss Δcsp
End-to-end delay Control Sampling Period
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection
![Page 40: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/40.jpg)
The Path Quality Model: PQModelAfter we determine the priority of the measurement packetsIncludes
Network delayNetwork reliability
We compute the path quality for all the paths as
PQ = Dnet + α nloss Δcsp
End-to-end delay Control Sampling Period
Consecutive Packet losses
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection
![Page 41: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/41.jpg)
The Path Quality Model: PQModelAfter we determine the priority of the measurement packetsIncludes
Network delayNetwork reliability
We compute the path quality for all the paths as
PQ = Dnet + α nloss Δcsp
End-to-end delay Control Sampling Period
Consecutive Packet lossesDesign parameter
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection
![Page 42: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/42.jpg)
Case studies
Parameters Inverted Pendula (IP) Nuclear Power Plant (NPP)
Sampling period Ts 0.01s 0.1s
Simulation time Tsim 100s 300s
RCA (6 + 4l) meters (2 + 2l) MWatts
RCD 5j seconds 15j seconds
ST change [0s, Tsim-RCD] [0s, Tsim-RCD]
l=0,…,4
j=1,…,8
x3 x3
![Page 43: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/43.jpg)
PID Tuning
-4-2
2.6
0
2.8
3
10-3
RM
SE
2
3.2
0
KD
3.4
5 410 6
-4-2
IP
3
0
KP
4
5
10-3
20
6
KD
7
5 410 615
-4-2
3
0
KP
4
-4
5
10-3
2-2
6
0
7
42 4 66
-4-2
0.08
0
0.1
0
RM
SE
2
0.12
KD
0.14
10 420 6
-4-2
NPP
0.1
0
KP
0.15
0 2
0.2
KD
0.25
10 420 6
-4-2
0.1
0
KP
-4
0.15
2-2
0.2
0
0.25
42 4 66
![Page 44: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/44.jpg)
! Tuning
The IP is more sensitive to large delays
" decreases with high network interference
![Page 45: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/45.jpg)
Comparison of the Different Heuristics
PID provides better and
more stable performance
![Page 46: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/46.jpg)
Improvement With PQModel
The PQ model outperforms end-to-end approaches
![Page 47: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/47.jpg)
ConclusionWe explored the interaction between dynamic packet scheduling and the control system performance in WCS
Highly nonlinear systems are not heavily explored in the literature
Three heuristics for packet priority assignmentPID: most promising
Path quality modelTradeoff between delay and reliability
![Page 48: Packet Priority Assignment for Wireless Control Systems of ... · Packet Priority Assignment for Wireless Control Systems of Multiple Physical Systems Wenchen Wang, Daniel Mosse,](https://reader034.vdocuments.us/reader034/viewer/2022042215/5ebd184f57241878db3b5e99/html5/thumbnails/48.jpg)
Questions?
Alessandro V. Papadopoulos [email protected]
Remote Controller
…
Multi-hop Network
Priority Assignment
Path Selection