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Optimum Allocation of Computing Resources in Networked Sensing and Control
Abstract In this paper we consider task scheduling …
In this paper we consider task scheduling when sensing and controlling over a network with packet dropping links. We find optimum ways of allocating limited computing resources for estimation and control of a number of linear dynamical systems with different characteristics over communication links with different qualities. We find theoretical expressions relating the optimum sampling rates to the characteristics of the communication links and dynamics of the plants.When considering resource allocation for estimation of the plants, we derive optimum ways of task scheduling for two performance metrics: decay rate and the asymptotic value of the estimation error variance. When scheduling the control tasks, we consider rate of convergence of the state and the overall control cost as performance measures. The work lays the theoretical foundations for considering the impact of both limited computing and communication resources on estimation and control.
ation resources on estimation and control.  +
Authors Yasamin Mostofi and Richard M. Murray  +
ID 2005o  +
Source Submitted, 2006 American Control Conference  +
Tag mm06-acc  +
Title Optimum Allocation of Computing Resources in Networked Sensing and Control +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:17:50  +
URL
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http://www.cds.caltech.edu/~murray/preprints/mm06-acc.pdf  +
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