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Constrained Control with Communication Blackouts: Theory and Experimental Validation over Wi-Fi

机译：通过沟通停电的受限控制：Wi-Fi的理论和实验验证

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摘要

Many modern applications have raised the issue of coordinating multiple agents under limitations given by the environment. In the industrial scenario, for instance, an interesting case-of-study consists of two mobile manipulators that cooperate to transport a load to a desired target position while avoiding obstacles. Wireless communications and physical constraints are the two key features of this kind of problems and the technological challenge is given by the merge of them: on one hand, constraints need to be always satisfied to guarantee safety, on the other, wireless networks are affected by random packet loss that usually allows only a probabilistic description of the system. Even more, if fast networks as Wi-Fi are adopted to achieve a low sampling period, the stochasticity of the communication is drastically increased and long communication blackouts are possible. For this reason, in this paper we focus on the case where the maximum number of consecutive packet losses is not bounded and we study a control scheme based on Reference Governor that guarantees to satisfy the constraints even in presence of communication blackouts. We provide the theoretical properties of the considered solution and we evaluate it through hardware-in-the-loop experiments based on actual realizations of a Wi-Fi channel obtained in laboratory.
机译：许多现代申请提出了在环境给出的限制下协调多个代理的问题。例如，在工业场景中，一个有趣的研究案例由两个移动操纵器组成，该机器人配合在避免障碍物的同时配合将负载运送到所需的目标位置。无线通信和物理限制是这种问题的两个关键特征，技术挑战是由它们的合并给出的：一方面，需要总是满足保证安全，另一方面，无线网络受到影响随机数据包丢失通常仅允许系统的概率描述。如此，如果采用快速网络作为Wi-Fi来实现低采样周期，则通信的随机性大幅增加，并且可以增加长期通信停电。出于这个原因，在本文中，我们专注于不受限制的连续分组损失最大数量的情况，并且我们研究了基于参考调节器的控制方案，即使在存在通信停电时也能保证满足约束。我们提供所考虑的解决方案的理论属性，我们通过基于在实验室中获得的Wi-Fi频道的实际实现来通过硬件循环实验进行评估。

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