Rollout event-triggered control: reconciling event- and time-triggered control
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Stefan Wildhagen
Stefan Wildhagen received the Master’s degree in Engineering Cybernetics from the University of Stuttgart, Germany, in 2018. He has since been a doctoral student at the Institute for Systems Theory and Automatic Control under supervision of Prof. Allgöwer and a member of the Graduate School Simulation Technology at the University of Stuttgart. His research interests are in the area of Networked Control Systems, with a focus on optimization-based scheduling and control as well as on data-driven methods.
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Frank Dürr
Frank Dürr is a senior researcher and lecturer at the Distributed Systems Department of the Institute of Parallel and Distributed Systems (IPVS) at University of Stuttgart, Germany. He received both his doctoral degree and diploma in computer science from University of Stuttgart. Frank Dürr is currently leading the mobile computing and the software-defined networking (SDN) & time-sensitive networking (TSN) groups of the Distributed Systems Department. He has given tutorials on SDN at several national and international conferences, and as a lecturer he has been giving lectures and practical courses on networked systems and SDN. Besides SDN and TSN, Frank Dürr’s research interests include mobile and pervasive computing, location privacy, and cloud computing aspects overlapping with these topics like mobile cloud and edge computing, or datacenter networks.
Frank Allgöwer is professor of mechanical engineering at the University of Stuttgart, Germany, and Director of the Institute for Systems Theory and Automatic Control (IST) there. He is active in serving the community in several roles: Among others he was President of the International Federation of Automatic Control (IFAC) for the years 2017–2020, Vicepresident for Technical Activities of the IEEE Control Systems Society for 2013/14, and Editor of the journal Automatica from 2001 until 2015. From 2012 until 2020 he served in addition as Vice-president for the German Research Foundation (DFG), which is Germany’s most important research funding organization. His research interests include predictive control, data-based control, networked control, cooperative control, and nonlinear control with application to a wide range of fields including systems biology.
Abstract
Event-triggered control (ETC) and time-triggered control (TTC), the classical concepts to determine the transmission instants for networked control systems, each come with drawbacks: It is difficult to tune ETC such that a certain bandwidth is respected, whereas TTC cannot adapt the sampling interval to the current state of the control system. In this article, we provide an overview over rollout ETC, a method aimed at reconciling the advantages of ETC and TTC. We unite two variants of rollout ETC under a common framework and present conditions for convergence and compliance with a predefined bandwidth limit. Furthermore, we demonstrate that rollout ETC satisfies a performance bound and that it allows for a very flexible transmission scheduling similar to classical ETC. The mentioned beneficial properties are illustrated through extensive numerical simulations.
Zusammenfassung
Sowohl bei der ereignisbasierten als auch der zeitgesteuerten Regelung (ETC, TTC), den klassischen Konzepten zur Bestimmung der Übertragungszeitpunkte für vernetzte Regelungssysteme, gibt es Nachteile: Die Auslegung von ETC, sodass eine bestimmte Bandbreite eingehalten wird, gestaltet sich oft als schwierig und TTC kann die Abtastrate nicht an den aktuellen Zustand der Regelstrecke anpassen. Dieser Artikel gibt einen Überblick über rollout ETC, eine Methode, die darauf abzielt, die Vorteile von ETC und TTC zu vereinen. Es werden zwei Varianten von rollout ETC in demselben Theorierahmen vereinigt und Bedingungen für Konvergenz und die Einhaltung einer vorher festgelegten Bandbreite präsentiert. Außerdem wird gezeigt, dass rollout ETC eine Mindestregelgüte garantiert und eine sehr flexible Übertragungsplanung, ähnlich zu klassischem ETC, ermöglicht. Die erwähnten vorteilhaften Eigenschaften werden anhand von umfangreichen numerischen Simulationen veranschaulicht.
Funding source: Deutsche Forschungsgemeinschaft
Award Identifier / Grant number: EXC 2075 – 390740016
Award Identifier / Grant number: AL 316/13-2 – 285825138
Funding statement: Funded by Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Germany’s Excellence Strategy – EXC 2075 – 390740016 and under grant AL 316/13-2 – 285825138.
About the authors
Stefan Wildhagen received the Master’s degree in Engineering Cybernetics from the University of Stuttgart, Germany, in 2018. He has since been a doctoral student at the Institute for Systems Theory and Automatic Control under supervision of Prof. Allgöwer and a member of the Graduate School Simulation Technology at the University of Stuttgart. His research interests are in the area of Networked Control Systems, with a focus on optimization-based scheduling and control as well as on data-driven methods.
Frank Dürr is a senior researcher and lecturer at the Distributed Systems Department of the Institute of Parallel and Distributed Systems (IPVS) at University of Stuttgart, Germany. He received both his doctoral degree and diploma in computer science from University of Stuttgart. Frank Dürr is currently leading the mobile computing and the software-defined networking (SDN) & time-sensitive networking (TSN) groups of the Distributed Systems Department. He has given tutorials on SDN at several national and international conferences, and as a lecturer he has been giving lectures and practical courses on networked systems and SDN. Besides SDN and TSN, Frank Dürr’s research interests include mobile and pervasive computing, location privacy, and cloud computing aspects overlapping with these topics like mobile cloud and edge computing, or datacenter networks.
Frank Allgöwer is professor of mechanical engineering at the University of Stuttgart, Germany, and Director of the Institute for Systems Theory and Automatic Control (IST) there. He is active in serving the community in several roles: Among others he was President of the International Federation of Automatic Control (IFAC) for the years 2017–2020, Vicepresident for Technical Activities of the IEEE Control Systems Society for 2013/14, and Editor of the journal Automatica from 2001 until 2015. From 2012 until 2020 he served in addition as Vice-president for the German Research Foundation (DFG), which is Germany’s most important research funding organization. His research interests include predictive control, data-based control, networked control, cooperative control, and nonlinear control with application to a wide range of fields including systems biology.
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© 2022 Walter de Gruyter GmbH, Berlin/Boston
Articles in the same Issue
- Frontmatter
- Editorial
- Ausgewählte Beiträge des GMA Fachausschusses 1.50
- Survey
- A compendium of optimization algorithms for distributed linear-quadratic MPC
- Rollout event-triggered control: reconciling event- and time-triggered control
- Methoden
- Uncertain AoI in stochastic optimal control of constrained LTI systems
- Gradient-Tracking-basierte Lösung von Multi-Cluster-Spielen
- Adaptively robust nonlinear model predictive control based on attack identification
- Cooperative transportation: realizing the promises of robotic networks using a tailored software/hardware architecture
- Fahrsituationsabhängiger Wechsel der Kommunikationstopologie für heterogene Platoons
- Dissertationen
- Automatisierte Erzeugung von Modellen und Beobachtern für physikalisch vernetzte Systeme
Articles in the same Issue
- Frontmatter
- Editorial
- Ausgewählte Beiträge des GMA Fachausschusses 1.50
- Survey
- A compendium of optimization algorithms for distributed linear-quadratic MPC
- Rollout event-triggered control: reconciling event- and time-triggered control
- Methoden
- Uncertain AoI in stochastic optimal control of constrained LTI systems
- Gradient-Tracking-basierte Lösung von Multi-Cluster-Spielen
- Adaptively robust nonlinear model predictive control based on attack identification
- Cooperative transportation: realizing the promises of robotic networks using a tailored software/hardware architecture
- Fahrsituationsabhängiger Wechsel der Kommunikationstopologie für heterogene Platoons
- Dissertationen
- Automatisierte Erzeugung von Modellen und Beobachtern für physikalisch vernetzte Systeme
