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Change Sensor Topology When Needed: How to Efficiently Use System Resources in Control and Estimation Over Wireless Networks

Shi, Ling and Johansson, Karl Henrik and Murray, Richard M. (2007) Change Sensor Topology When Needed: How to Efficiently Use System Resources in Control and Estimation Over Wireless Networks. In: 46th IEEE Conference on Decision and Control. Proceedings IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 5478-5485. ISBN 978-1-4244-1497-0.

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New control paradigms are needed for large networks of wireless sensors and actuators in order to efficiently utilize system resources. In this paper we consider when feedback control loops are formed locally to detect, monitor, and counteract disturbances that hit a plant at random instances in time and space. A sensor node that detects a disturbance dynamically forms a local multi-hop tree of sensors and fuse the data into a state estimate. It is shown that the optimal estimator over a sensor tree is given by a Kalman filter of certain structure. The tree is optimized such that the overall transmission energy is minimized but guarantees a specified level of estimation accuracy. A sensor network reconfiguration algorithm is presented that leads to a suboptimal solution and has low computational complexity. A linear control law based on the state estimate is applied and it is argued that it leads to a closed-loop control system that minimizes a quadratic cost function. The sensor network reconfiguration and the feedback control law are illustrated on an example.

Item Type:Book Section
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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2007 IEEE. Issue Date: 12-14 Dec. 2007; Date of Current Version: 21 January 2008. The work by L. Shi and R. M. Murray is supported in part by AFOSR grant FA9550-04-1-0169. The work by K. H. Johansson was supported by the Swedish Research Council and the Swedish Foundation for Strategic Research.
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA9550-04-1-0169
Swedish Research CouncilUNSPECIFIED
Swedish Foundation for Strategic ResearchUNSPECIFIED
Series Name:Proceedings IEEE Conference on Decision and Control
Record Number:CaltechAUTHORS:20101105-135641397
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Official Citation:Ling Shi; Johansson, K.H.; Murray, R.M.; , "Change sensor topology when needed: How to efficiently use system resources in control and estimation over wireless networks," Decision and Control, 2007 46th IEEE Conference on , vol., no., pp.5478-5485, 12-14 Dec. 2007 doi: 10.1109/CDC.2007.4434979 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:20699
Deposited By: Jason Perez
Deposited On:08 Nov 2010 18:04
Last Modified:09 Nov 2021 00:02

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