超越带宽限制的扩展：过载下具有稳定性保证的无线控制
Scaling Beyond Bandwidth Limitations: Wireless Control With Stability Guarantees Under Overload
摘要：
一类重要的网络物理系统依赖于多个代理，这些代理通过在无线网络上协调它们的动作来联合执行任务。例如，智能交通中的自动驾驶汽车和智能制造中的生产机器人。然而，现有的无线控制解决方案的可扩展性是有限的，因为它们不能解决通信需求超过可用带宽的过载情况。本文提出了一种新的分布式控制和无线通信的协同设计，克服了这一限制，动态分配可用带宽的代理最大的需要进行通信。在一个真实的网络物理实验平台上进行的实验表明，我们的解决方案在过载情况下比现有技术实现了更好的控制性能。该实验平台上有20个代理，每个代理由一个低功耗无线嵌入式设备和一个推车杆系统组成。我们进一步证明了我们的协同设计保证了随机线性时不变动态物理系统的闭环稳定性。
英文摘要：
An important class of cyber-physical systems relies on multiple agents that jointly perform a task by coordinating their actions over a wireless network. Examples include self-driving cars in intelligent transportation and production robots in smart manufacturing. However, the scalability of existing control-over-wireless solutions is limited as they cannot resolve overload situations in which the communication demand exceeds the available bandwidth. This paper presents a novel co-design of distributed control and wireless communication that overcomes this limitation by dynamically allocating the available bandwidth to agents with the greatest need to communicate. Experiments on a real cyber-physical testbed with 20 agents, each consisting of a low-power wireless embedded device and a cart-pole system, demonstrate that our solution achieves significantly better control performance under overload than the state of the art. We further prove that our co-design guarantees closed-loop stability for physical systems with stochastic linear time-invariant dynamics.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
