边缘云控制下AGV的稳定性约束资源分配
Resource Allocation with Stability Constraints of an Edge-cloud controlled AGV
摘要：
通过分析闭环反馈控制系统的控制-通信依赖关系，提出了闭环反馈控制系统的资源分配方案。我们考虑一个自动导引车（AGV），通过无线衰落信道与位于边缘云的控制器进行通信。控制命令被发送到AGV，并且位置状态在每个时刻被反馈到控制器。基于控制稳定性的调度度量“不稳定概率”的资源分配进行评估。在过载和非过载情况下，将基于稳定性的RA方案与基于最大SNR的RA方案和控制误差优先方法的性能进行了比较。具有稳定性约束的RA方案显著降低了资源利用率，并且能够在保持其稳定性的情况下调度更多数量的AGV。此外，所提出的RA方案是独立的控制状态，并依赖于连续的数据包错误，控制参数，如采样时间和AGV速度。此外，我们还分析了RA方案对AGV的稳定性和错误性能的影响，并评估了不稳定的AGV的数量。
英文摘要：
The paper proposes Resource Allocation (RA) schemes for a closed loop feedback control system by analysing the control-communication dependencies. We consider an Automated Guided Vehicle (AGV) that communicates with a controller located in an edge-cloud over a wireless fading channel. The control commands are transmitted to an AGV and the position state is feedback to the controller at every time-instant. A control stability based scheduling metric 'Probability of Instability' is evaluated for the resource allocation. The performance of stability based RA scheme is compared with the maximum SNR based RA scheme and control error first approach in an overloaded and non-overloaded scenario. The RA scheme with the stability constraints significantly reduces the resource utilization and is able to schedule more number of AGVs while maintaining its stability. Moreover, the proposed RA scheme is independent of control state and depends upon consecutive packet errors, the control parameters like sampling time and AGV velocity. Furthermore, we also analyse the impact of RA schemes on the AGV's stability and error performance, and evaluated the number of unstable AGVs.
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