A Co-design Distributed Bayesian Approach for Decision and Scheduling of WNCS

Amine Mechraoui (1) , Faris Djohor (2) , Jean-Marc Thiriet (1) , Sylviane Gentil (1)

1 GIPSA-SAIGA - GIPSA - Signal et Automatique pour la surveillance, le diagnostic et la biomécanique
2 LSIS - Laboratoire des Sciences de l'Information et des Systèmes

This paper deals with the problem of co-design of Wireless Networked Control systems (WNCS). The integration of the Wireless Network (WN) in the control loop influences the Quality of Control (QoC) of the system in terms of the Quality of Service (QoS) of the WN. We present a co-design approach for WNCS based on distributed Bayesian Network (BN) and we illustrate it with Khepera III robot. The proposed BN is constructed from the robot experimental data. This approach allows to make decisions to ensure a good QoC for the robot and also ensure that the QoS is always sufficient to maintain a good QoC. Keeping a sufficient QoS depends on the scheduling method used and therefore the proposed approach aims also to determine the proper scheduling method to keep the system's performance. Finally a comparison is performed with the classical time-triggered scheduling. The results obtained with BN scheduling are better in terms of QoS and QoC for WNCS

Mots clés: Wireless Networked Control Systems; Co-design; Bayesian Network; Scheduling; Decision-making; Mobile robot

Domaines: Automatique / Robotique

Amine Mechraoui, Faris Djohor, Jean-Marc Thiriet, Sylviane Gentil. A Co-design Distributed Bayesian Approach for Decision and Scheduling of WNCS. IFAC WC 2011 - 18th IFAC World Congress, Aug 2011, Milan, Italy. pp.14970-14975. ⟨hal-00618954⟩