Abstract
In a wireless networked control system (W-NCS), energy is required to transmit a sensor reading to the controller. It should be noted that the packet success rate (PSR) is an essential factor in the control performance, and PSR is directly proportional to the energy per symbol. Hence, it requires a significant amount of energy to have perfect control performance. However, in most cases in wireless sensor network scenarios, each node is attached to a limited power battery. Therefore, an energy optimization scheme that can harvest energy while maintaining the control performance is essentially required. The combination of Kalman filter and Linear Quadratic Regulator (LQR) that is known as Linear Quadratic Gaussian (LQG) is used as the backbone of the scheme to estimate the state and synthesize the optimal control. In addition, the optimal power scheduler (PS) is introduced to minimize energy usage while maintaining control performance. The finite block length approach is applied to achieve the upper bound of packet error rate. The results of energy consumption optimization showed that the scheme worked perfectly, wherein the energy per symbol usage is low, and the stability of the dynamic system is well maintained.
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This work was supported by World Class Professor Program 2020 contract number 101.27/E4.3/KU/2020.
Subchan Subchan received his Bachelor degree in mathematics from Institut Teknologi Sepuluh Nopember, Indonesia, in 1994 and a Master degree in mathematics from the Delft University of Technology, The Netherlands, in 2000. He received a Doctoral degree from the Department of Aerospace, Power, and Sensors, Cranfield University, Defence Academy of the United Kingdom, in 2006. He is currently head of the Mathematics Department, Institut Teknologi Sepuluh Nopember, Indonesia. He was vice-rector on academic affairs at Kalimantan Institute of Technology 2014–2019. He has authored a book Computational Optimal Control: Tools and Practice and published over 33 papers in peer-reviewed international and national journals and proceedings. His current research interests include system theory, dynamic modeling, optimization, and model predictive control.
Zuhair Zuhair received his Bachelor degree in mathematics from Institut Teknologi Sepuluh Nopember, Indonesia. He is currently a research assistant in the Department of Mathematics, Institut Teknologi Sepuluh Nopember, Indonesia. His current research interests include networked control systems, wireless sensor networks, control theory.
Tahiyatul Asfihani received her Bachelor, Master, and Doctoral degrees from Institut Teknologi Sepuluh Nopember, Indonesia. She is a member of the Modeling and Simulation Laboratory in the Mathematics Department, Institut Teknologi Sepuluh Nopember, Indonesia. Her current research interests include system theory, dynamic modeling, optimization, and model predictive control.
Dieky Adzkiya received his B.Sc. degree in September 2005 and an M.Sc. degree in October 2008, both in mathematics from the Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia. He received a Ph.D. degree in systems and control in October 2014 and after that, he continued as a postdoctoral researcher until June 2015, both at the Delft Center for Systems and Control, Delft University of Technology, Delft, The Netherlands. Currently, he is an assistant professor in the Department of Mathematics at Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia. His research interests are in the analysis and verification of max-plus-linear systems and their applications.
Seungkeun Kim received his B.Sc. degree in mechanical and aerospace engineering from Seoul National University (SNU), Seoul, Korea, in 2002, and a Ph.D. degree from SNU in 2008. He is currently a professor at the Department of Aerospace Engineering, Chungnam National University, Korea. He was an associate professor and an assistant professor at the same university from 2012 to 2020. Previously, he was a research fellow and a lecturer at Cranfield University, United Kingdom from 2008 to 2012. He is interested in micro aerospace systems, aircraft guidance and control, estimation, sensor fusion, fault diagnosis, fault-tolerant control, and decision-making for autonomous systems.
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Subchan, S., Zuhair, Z., Asfihani, T. et al. Energy Optimization on Wireless-networked Control Systems (W-NCSs) Using Linear Quadratic Gaussian (LQG). Int. J. Control Autom. Syst. 19, 3853–3861 (2021). https://doi.org/10.1007/s12555-020-0724-y
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DOI: https://doi.org/10.1007/s12555-020-0724-y