MPC-based Co-design of Control and Routing for Wireless Sensor and Actuator Networks

A wireless sensor and actuator network (WSAN) is a class of networked control systems. In WSANs, sensors and actuators are located in a distributed way, and communicate to controllers through a wireless communication network such as a multi-hop network. In this paper, we propose a model predictive control (MPC) method for co-design of control and routing of WSANs. MPC is an optimal control strategy based on numerical optimization. The control input is calculated by solving the finite-time optimal control problem at each discrete time. In the proposed method, a WSAN is modeled by a switched linear system. In the finite-time optimal control problem, a control input and a mode corresponding to a communication path are optimized simultaneously. The proposed method is demonstrated by a numerical example.