Wireless Networking Based Control Sudip K. Mazumder Editor Wireless Networking Based Control 123 Editor SudipK.Mazumder UniversityofIllinois,Chicago Dept.ElectricalandComputerEng. 851SouthMorganStreet 1020ScienceandEng.Offices ChicagoIllinois60607 USA [email protected] [email protected] ISBN978-1-4419-7392-4 e-ISBN978-1-4419-7393-1 DOI10.1007/978-1-4419-7393-1 SpringerNewYorkDordrechtHeidelbergLondon c SpringerScience+BusinessMedia,LLC2011 Allrightsreserved.Thisworkmaynotbetranslatedorcopiedinwholeorinpartwithoutthewritten permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY10013, USA),except forbrief excerpts inconnection with reviews orscholarly analysis. Usein connectionwithanyformofinformationstorageandretrieval,electronicadaptation,computersoftware, orbysimilarordissimilarmethodologynowknownorhereafterdevelopedisforbidden. Theuseinthispublicationoftradenames,trademarks,servicemarks,andsimilarterms,eveniftheyare notidentifiedassuch,isnottobetakenasanexpressionofopinionastowhetherornottheyaresubject toproprietaryrights. Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Preface Wirelessnetworkingisgainingsignificantmomentuminseveralareasofapplication due to advantages encompassing mobility, reconfigurability,easy commissioning, and spatio-temporal sensing. While initial focus of wireless networking has been on communication and sensing alone, a new field now has emerged that uses the same communication channel for enabling network control. This leads to several interesting issues and possibilities that are nottypically encounteredin traditional wire-basednetworkcontrol.Thisbookwillemphasizeonandoutlinesomeofthose issuesfromthestandpointsofboththeoryandapplicationswithfocusonthecore themeofcontrolusingwirelessnetworkandcontroloftheinformationexchanged overthewirelessnetwork.Broadly,thetopicscoveredinthisbookencompassthe following: Robust stabilization of wireless network control systems in the presence of  delays,packetdropout,fading Stateestimationoverwirelessnetworkunderrandommeasurementdelay  Distributedoptimizationalgorithmforaddressingfeedbackdelayandnetwork-  throughputtradeoffinwirelesscontrol-communicationnetwork Cyber-physicalcontroloverwirelesssensorandactuatornetworks  EstimationofadynamicalsystemoverawirelessfadingchannelusingKalman  filter Controlover wireless multi-hop networksbased on time-delay and finite spec-  trumassignment Positionlocalizationinwirelesssensornetworks  Cross-layeroptimized-basedprotocolsforcontroloverwirelesssensornetworks  Rendezvousproblemand consensusprotocolsfor applicationin controlof dis-  tributedmobilewirelessnetworks Redeploymentcontrolofmobilesensorsforenhancingwirelessnetworkquality  andchannelcapacity Design of IEEE 802.15.4-based performance-metrics-optimizing distributed  and adaptive algorithms and protocols for wireless control and monitoring applications Coordinatedcontroloverlow-frequency-radio-basedad-hocunderwaterwireless  communicationnetwork v vi Preface It is my sincere hope that, by providing an overview on important, interesting, and relevant issues related to wireless network-based control, this book, which represents the work of motivated researchers, will provide a great service to the communityandcreategreaterinterestinthisrapidlygrowingfield. Chicago,Illinois,USA SudipK.Mazumder Contents 1 ImplementationConsiderationsForWirelessNetworked ControlSystems............................................................... 1 PayamNaghshtabriziandJoa˜oP.Hespanha 2 StateEstimationOveranUnreliableNetwork............................ 29 LingShi,LihuaXie,andRichardM.Murray 3 Distributed OptimalDelayRobustness and Network Throughput Tradeoff in Control-Communication Networks....................................................................... 57 MuhammadTahirandSudipK.Mazumder 4 Cyber-PhysicalControlOverWirelessSensor andActuatorNetworkswithPacketLoss.................................. 85 FengXia,XiangjieKong,andZhenzhenXu 5 KalmanFilteringOverWirelessFadingChannels .......................103 YasaminMostofiandAlirezaGhaffarkhah 6 Time-DelayEstimationandFinite-SpectrumAssignment forControlOverMulti-HopWSN..........................................135 EmmanuelWitrant,PangunPark,andMikaelJohansson 7 LocalizationinWirelessSensorNetworks.................................153 SteveHusethandSoumitriKolavennu 8 Counting and Rendezvous: Two Applications ofDistributedConsensusinRobotics ......................................175 CarlosH.Caicedo-Nu´n˜ezandMilosˇZˇefran vii viii Contents 9 DesignPrinciplesofWirelessSensorNetworksProtocols forControlApplications.....................................................203 Carlo Fischione,PangunPark, PiergiuseppeDi Marco, andKarlHenrikJohansson 10 Multi-Robot Redeployment Controlfor Enhancing WirelessNetworkingQuality................................................239 Feng-LiLian,Yi-ChunLin,andKo-HsinTsai 11 AdaptiveIEEE802.15.4MediumAccessControlProtocol forControlandMonitoringApplications..................................271 PangunPark,CarloFischione,andKarlHenrikJohansson 12 Co-designofIEEE802.11BasedControlSystems........................301 GeorgeW.Irwin,AdrianMcKernan,andJianChen 13 CoordinatedControlofRoboticFishUsinganUnderwater WirelessNetwork.............................................................323 DanielJ.Klein,VijayGupta,andKristiA.Morgansen Index.................................................................................341 Contributors Carlos H. Caicedo-Nu´n˜ez Department of Mechanical and Aerospace Engineering,PrincetonUniversity,Princeton,NJ08544,USA, [email protected] JianChen IntelligentSystems and Control, Schoolof Electronics, Electrical EngineeringandComputerScience,QueensUniversityBelfast,Belfast, County Antrim,UK,[email protected] Carlo Fischione ACCESS Linnaeus Center, Electrical Engineering, Royal InstituteofTechnology,Stockholm,Sweden,carlofi@ee.kth.se Alireza Ghaffarkhah Departmentof Electrical and Computer Engineering, UniversityofNewMexico,Albuquerque,NM87113,USA,[email protected] VijayGupta UniversityofNotreDame,NotreDame,IN,USA, [email protected] Joa˜o P. Hespanha University of California, Santa Barbara, CA, USA, [email protected] Steve Huseth Honeywell ACS Labs, Golden Valley, MN, USA, steve. [email protected] George W. Irwin Intelligent Systems and Control, School of Electronics, ElectricalEngineeringandComputerScience,QueensUniversityBelfast,Belfast, CountyAntrim,UK,[email protected] KarlHenrikJohansson ACCESSLinnaeusCenter,ElectricalEngineering,Royal InstituteofTechnology,Stockholm,Sweden,[email protected] Mikael Johansson ACCESS LinnaeusCenter, ElectricalEngineering,Royal InstituteofTechnology,Stockholm,Sweden,[email protected] DanielJ.Klein DepartmentofElectricalandComputerEngineering, UniversityofCalifornia,SantaBarbara,CA,USA, [email protected] SoumitriKolavennu HoneywellACSLabs,GoldenValley,MN,USA,soumitri. [email protected] ix x Contributors XiangjieKong Schoolof Software,Dalian Universityof Technology,Dalian 116620,China,[email protected] Feng-LiLian DepartmentofElectricalEngineering,NationalTaiwanUniversity, Taipei10617,Taiwan,[email protected] Yi-ChunLin DepartmentofElectricalEngineering,NationalTaiwanUniversity, Taipei10617,Taiwan,[email protected] PiergiuseppeDiMarco ACCESSLinnaeusCenter,ElectricalEngineering,Royal InstituteofTechnology,Stockholm,Sweden,[email protected] Sudip K. Mazumder Departmentof Electrical and Computer Engineering, UniversityofIllinoisatChicago,Chicago,IL60607,USA, [email protected] Adrian McKernan Intelligent Systems and Control, School of Electronics, ElectricalEngineeringandComputerScience,QueensUniversityBelfast,Belfast, CountyAntrim,UK,[email protected] KristiA.Morgansen UniversityofWashington,Seattle,WA,USA, [email protected] YasaminMostofi DepartmentofElectricalandComputerEngineering,University ofNewMexico,Albuquerque,NM87113,USA,ymostofi@ece.unm.edu Richard M. Murray Control and Dynamical Systems, California Institute ofTechnology,Pasadena,CA91106,USA,[email protected] PayamNaghshtabrizi FordMotorCompany,Dearborn,MI,USA, [email protected] PangunPark ACCESSLinnaeusCenter,ElectricalEngineering,RoyalInstitute ofTechnology,Stockholm,Sweden,[email protected] Ling Shi Departmentof Electronic and Computer Engineering,Hong Kong UniversityofScienceandTechnology,ClearWaterBay,Kowloon,HongKong, [email protected] Muhammad Tahir Department of Electrical Engineering, University ofEngineeringandTechnology,Lahore,Pakistan,[email protected] Ko-HsinTsai DepartmentofElectricalEngineering,NationalTaiwanUniversity, Taipei10617,Taiwan,[email protected] EmmanuelWitrant UJFGIPSA-lab,DepartmentofControlSystems,University ofGrenoble,SaintMartind’He`res,France,[email protected] FengXia SchoolofSoftware,DalianUniversityofTechnology,Dalian116620, China,[email protected] Lihua Xie The School of Electrical and Electrical Engineering, Nanyang TechnologicalUniversity,Singapore,[email protected] Zhenzhen Xu Schoolof Software, Dalian University of Technology,Dalian 116620,China,[email protected] Milosˇ Zˇefran DepartmentofElectricalandComputerEngineering,University ofIllinoisatChicago,Chicago,IL60607,USA,[email protected]