CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Fast and Resource-Efficient Control of Wireless Cyber-Physical Systems
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. Max Planck Institute for Intelligent Systems.
2019 (English)Licentiate thesis, monograph (Other academic)
Abstract [en]

Cyber-physical systems (CPSs) tightly integrate physical processes with computing and communication to autonomously interact with the surrounding environment.This enables emerging applications such as autonomous driving, coordinated flightof swarms of drones, or smart factories. However, current technology does notprovide the reliability and flexibility to realize those applications. Challenges arisefrom wireless communication between the agents and from the complexity of thesystem dynamics. In this thesis, we take on these challenges and present three maincontributions.We first consider imperfections inherent in wireless networks, such as communication delays and message losses, through a tight co-design. We tame the imperfectionsto the extent possible and address the remaining uncertainties with a suitable controldesign. That way, we can guarantee stability of the overall system and demonstratefeedback control over a wireless multi-hop network at update rates of 20-50 ms.If multiple agents use the same wireless network in a wireless CPS, limitedbandwidth is a particular challenge. In our second contribution, we present aframework that allows agents to predict their future communication needs. Thisallows the network to schedule resources to agents that are in need of communication.In this way, the limited resource communication can be used in an efficient manner.As a third contribution, to increase the flexibility of designs, we introduce machinelearning techniques. We present two different approaches. In the first approach,we enable systems to automatically learn their system dynamics in case the truedynamics diverge from the available model. Thus, we get rid of the assumption ofhaving an accurate system model available for all agents. In the second approach, wepropose a framework to directly learn actuation strategies that respect bandwidthconstraints. Such approaches are completely independent of a system model andstraightforwardly extend to nonlinear settings. Therefore, they are also suitable forapplications with complex system dynamics.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2019. , p. 117
Series
TRITA-EECS-AVL ; 2019:7
Keywords [en]
Cyber-Physical Systems, Event-Triggered Control, Machine Learning
National Category
Engineering and Technology
Research subject
Electrical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-241276ISBN: 978-91-7873-067-4 (print)OAI: oai:DiVA.org:kth-241276DiVA, id: diva2:1280065
Presentation
2019-02-15, Q2, Malvinas väg 10, Stockholm, 14:00 (English)
Opponent
Supervisors
Note

QC 20190118

Available from: 2019-01-18 Created: 2019-01-17 Last updated: 2019-01-21Bibliographically approved

Open Access in DiVA

fulltext(4228 kB)206 downloads
File information
File name FULLTEXT02.pdfFile size 4228 kBChecksum SHA-512
933f07ae8a0f44365898d70470807d341ddb4ec94fd99c0a730bf56431cfdc28d52b33dc6d938ce6944e5367436da75fcd59410124419d87299c357b9b22c8b6
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Baumann, Dominik
By organisation
Automatic Control
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 216 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

isbn
urn-nbn

Altmetric score

isbn
urn-nbn
Total: 317 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf