CN116991120A - Wireless networking control system resource scheduling method based on IEEE 802.11ax - Google Patents

Wireless networking control system resource scheduling method based on IEEE 802.11ax Download PDF

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CN116991120A
CN116991120A CN202310602949.8A CN202310602949A CN116991120A CN 116991120 A CN116991120 A CN 116991120A CN 202310602949 A CN202310602949 A CN 202310602949A CN 116991120 A CN116991120 A CN 116991120A
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subsystems
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郑萌
张雷
梁炜
于海斌
张思超
刘帅
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32252—Scheduling production, machining, job shop
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention relates to an industrial wireless network technology, in particular to a wireless networking control system resource scheduling method based on IEEE 802.11 ax. The invention is applicable to a wireless networked control system consisting of a plurality of independent discrete linear subsystems and a shared IEEE 802.11ax network. Specifically, considering the problem of packet loss of sensing data of an IEEE 802.11ax network, giving an optimal state estimator and an LQG control law of a wireless networking control system; establishing a resource scheduling problem model aiming at minimizing the expected LQG cost by analyzing the inherent relation between the LQG cost and the IEEE 802.11ax transmission reliability; and according to the state of each subsystem in each control period, a resource scheduling strategy with priority of control performance is provided so as to realize wireless high-speed control of a plurality of independent subsystems.

Description

Wireless networking control system resource scheduling method based on IEEE 802.11ax
Technical Field
The invention relates to the technical field of wireless networking control system resource scheduling, in particular to a wireless networking control system resource scheduling method based on IEEE 802.11 ax.
Background
The development of wireless network technology is an important driving force for the industrial automation system to break away the cable tie. Conventional industrial automation systems use a large number of cables, severely limiting the flexibility and scalability of the system. The wireless network technology enables the industrial automation system to realize on-line sensing and high-speed control more flexibly, and has a subversion effect on the industrial control field. Among the numerous wireless technologies, IEEE 802.11ax is increasingly being adopted by industrial control applications due to its low cost, easy maintenance, and frequency band unlicensed. However, in the actual factory environment, adverse factors such as path loss, noise interference, multipath effect and the like are faced, and communication resources are limited, so that real-time and reliable transmission of IEEE 802.11ax cannot be ensured, and further, the control performance of the whole wireless networking control system is difficult to meet.
The scheduling method determines the use efficiency of network resources and is important for improving the control performance of the wireless networking control system. The existing resource scheduling method is mainly oriented to network performance indexes such as throughput, transmission delay, transmission reliability and the like, so that the control performance of the system is poor.
Disclosure of Invention
Aiming at the problems of adverse factors such as path loss, noise interference, multipath effect and the like in the actual factory environment, the invention provides a wireless networked control system resource scheduling method based on IEEE 802.11 ax. The method is applicable to a wireless networking control system consisting of a plurality of independent discrete linear subsystems and a shared IEEE 802.11ax network.
The invention provides a wireless networking control system resource scheduling method based on IEEE 802.11 ax. Specifically, considering the problem of packet loss of sensing data of an IEEE 802.11ax network, giving an optimal state estimator and an LQG control law of a wireless networking control system; establishing a resource scheduling problem model aiming at minimizing the expected LQG cost by analyzing the inherent relation between the LQG cost and the IEEE 802.11ax transmission reliability; and according to the state of each subsystem in each control period, a resource scheduling strategy with priority of control performance is provided.
The technical scheme adopted by the invention for achieving the purpose is as follows:
the wireless networking control system resource scheduling method based on IEEE 802.11ax comprises the following steps:
1) Computing c for all subsystems k All subsystems are processed according to c i,k Ascending order arrangement, selecting a plurality of subsystems to dispatch, and marking a subsystem set as
2) Is thatIn subsystem selection Σ k and αk And calculates the optimal value +.> Uplink reliability vector for all subsystems>Σ k Allocating results, alpha, for all subsystem resource units RU k Allocating result mu for maximum protocol data unit PPDU of all subsystems k Parameters for the modulation and coding scheme;
3) For different mu k E M repeating step 2), wherein m= {0,1,2,..10, 11} is the range of values of the parameters of the modulation and coding scheme, taking the smallest Op k The corresponding dispatching result is thatScheduling the first transmission to make the maximum protocol data unit PPDU occupied by the first transmission be +.>ss * The maximum PPDU sequence number occupied for the first transmission;
4) After the first transmission scheduling, if a subsystem with failed transmission exists and the current control period still has residual PPDU, carrying out retransmission scheduling until all subsystems are successfully transmitted or the current control period is finished;
5) Updating counter l i,k+1 ；
6) Calculating control inputsSending to subsystem i;
7) The subsystem i state evolves.
In the step 1), c of all subsystems is calculated k The method specifically comprises the following steps:
wherein Tr represents the matrix taking trace; s is S i,k and Ti,k An intermediate variable matrix in the calculation process; a is that i Is a system matrix; p (P) i,k-1|k-1 An error covariance matrix for optimal estimation of the subsystem i; q (Q) i Covariance matrix of subsystem i system noise;
c k ＝[c 1,k ,c 2,k ,...,c m,k ] T
wherein ,Wi,k and Ui,k To calculate the intermediate variable matrix in the process, B i In order to input the matrix of the data,c for uplink transmission reliability i,k C for subsystem i k Values.
In the step 1), since the protocol data unit PPDU length required for transmitting one data packet per subsystem is τ (μ) k )＝L/r(μ k ) Where L is the packet size of each subsystem, each control period is in time slot as basic unit, each time slot lengthFrom a length T TF Is of length tau (mu) k ) A PPDU of length T ACK An ACK slot of length T PIFS Inter-frame spacing of point coordination function of (2) and two lengths T SIFS Is composed of a short inter-frame space SIFS, i.e. +.>The control period length is denoted as tau max Each control period contains a number of slots of +.> wherein />Representing a downward rounding function, with a bandwidth of +.>1 resource unit RU bandwidth is +.>Then a PPDU is allowed->Subsystems transmit in parallel, one control period at most being allowed +.>The subsystem transmits, therefore, before choosing +.>Sub-itemsThe system performs scheduling.
Said Σ in said step 2) k and αk The method specifically comprises the following steps:
in the kth control period, define f 1 ,f 2 ,…,f b Representing b different sub-bands having the same bandwidth, defining a Boolean variable for each sub-systemIf subsystem i is in band f j Upper transmission, then->OtherwiseFor subsystem i, the vector of Boolean variables corresponding to all frequency bands is noted asFor all subsystems, they are +.>The matrix formed is denoted as
For PPDU allocation, a boolean variable is defined for each subsystemIf, in the kth control period, subsystem i transmits on PPDUs, s=1, 2, ss (μ k ) Then->On the contrary->For subsystem i, the vector of all its PPDU-corresponding Boolean variables is denoted +.>For all subsystems, their alpha i,k The matrix formed is marked->
The calculated optimal valueThe method comprises the following steps:
wherein ,ck ＝[c 1,k ,c 2,k ,...,c m,k ] T At the same time, the variable Σ k ，μ k ，α k The following constraints need to be satisfied:
wherein, the collectionIs the Boolean vector alpha i,k Feasible set, set->Is Boolean vectorThe set m= {0,1, 2.10,11 is the modulation and coding scheme parameter MCS value μ for each subsystem k Is a viable set of (a).
The retransmission scheduling comprises the following steps:
4.1 Determining a set of unsuccessfully transmitted subsystems based on the transmission resultsAt this time m 1 ＝|I r |，/>
4.2 If subsystem i successfully transmits, c) i,k ＝0；
4.3 To be assembled I) r According to c i,k Arranged in ascending order before selectionThe subsystems are scheduled, and the subsystem set is marked as +.>
4.4 According to the obtained feasible scheduling result and />For->The subsystem in (a) performs retransmission scheduling, namely ss 1 The allocation of individual PPDUs to->And a subsystem.
The step 5) specifically comprises the following steps:
transmission counter l i,k+1 The control period is updated as follows:
wherein ,γi,k A bernoulli random variable is a flag indicating successful or unsuccessful transmission of an uplink packet for subsystem i.
The step 6) is specifically as follows:
wherein ,Ai As a system matrix, B i For input matrix S i,k+1 and Ui,k For the intermediate variable matrix in the calculation process,l for state estimation at the kth control period i,k For a feedback matrix, i.e.
The step 7) specifically comprises the following steps:
x i,k+1 ＝Α i x i,k +Β i u i,k +w i,k
wherein ,is a state vector +.>For control input +.>In the form of a system matrix,for input matrix +.>Is a real number, and is a real number,w i,k is 0 as the mean value and Q as the covariance matrix i Is white gaussian noise;
in the kth control period, the sensor of subsystem i will periodically sample the resulting state information x i,k Transmitting to a controller at the AP over a wireless channel; the controller is based on the received status informationCalculating state estimate->And control input u i,k And u is passed through the AP i,k An actuator sent to subsystem i; the actuator receives a control input u i,k Acting on subsystem i.
The invention has the following beneficial effects and advantages:
1. giving out an optimal state estimator and an LQG control law of a wireless networking control system by considering the problem of packet loss of sensing data of an IEEE 802.11ax network; by analyzing the inherent association of LQG costs with IEEE 802.11ax transmission reliability, a resource scheduling problem model is built that aims at minimizing the expected LQG costs.
2. And according to the state of each subsystem in each control period, a resource scheduling strategy with priority of control performance is provided so as to realize wireless high-speed control of a plurality of independent subsystems.
Drawings
FIG. 1 is a wireless networked control system;
fig. 2 is a timing diagram of a system model.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
The invention mainly comprises three parts of a wireless networking control system modeling, a resource scheduling problem model aiming at minimizing the expected LQG cost and a resource scheduling strategy with priority of control performance.
1. Modeling of wireless networked control system
As shown in fig. 1, the wireless networked control system is specifically as follows:
the wireless networked control system consists of 1 AP (including a controller) and m subsystems, the discrete time state space equations of subsystem i (i=1, 2, …, m) are as follows:
x i,k+1 ＝Α i x i,k +Β i u i,k +w i,k
wherein Is a state vector +.>For control input +.>In the form of a system matrix,for input matrix, w i,k Is 0 as the mean value and Q as the covariance matrix i Is a gaussian white noise of (c). In the kth control period, the sensor of subsystem i will periodically sample the resulting state information x i,k Transmitting to a controller at the AP over a wireless channel; the controller is based on the received status information +.>Calculating state estimate->And control input u i,k And u is passed through the AP i,k An actuator sent to subsystem i; finally, the actuator receives a control input u i,k Acting on subsystem i.
Uplink transmission is transmitted by IEEE 802.11ax wireless transmission, and Bernoulli random variable gamma is introduced i,k Modeling the process, i.e wherein />Representing the state information obtained by the AP. If the sensed data arrives correctly at the controller, thenOtherwise->And for gamma i,k There is-> I.e. uplink transmission reliability. The downlink transmission occurs on the ideal channel.
2. Resource scheduling problem model targeting minimizing expected LQG costs
The resource scheduling problem model targeting minimizing the expected LQG cost is specifically as follows:
first, introduce scheduling parameters of the resource scheduling problem model:
in the kth control period, define f 1 ,f 2 ,…,f b To represent b different sub-bands having the same bandwidth, defining a boolean variable for each sub-systemIf subsystem i is in band f j Upper transmission, then->OtherwiseFor subsystem i, the vector of Boolean variables corresponding to all frequency bands is noted asFurthermore, for all subsystems, they are +.>The matrix formed is denoted asOnly 1 RU is allocated to each subsystem, i.e.>2, …, m). Will collect->Defined as Boolean vector +.>Defining all feasible RU allocations.
Assigning the same MCS value μ to each subsystem k The range of values is m= {0,1,2,..10, 11}.
For PPDU allocation, a boolean variable is defined for each subsystemIf in the kth control period, subsystem i is in PPDUs (s=1, 2, ss (μ k ) Transmission on a transport line, then->On the contrary->For subsystem i, the vector of all its PPDU-corresponding Boolean variables is denoted +.>Further, for all subsystems, their α i,k The matrix formed is marked->Will be assembledDefined as the Boolean vector alpha i,k Which defines all possible PPDU assignments.
As shown in fig. 2, the scheduling parameters determine the transmission timing of the network: the MCS determines the data rate r (μ) of the transmission k ) The packet size of each subsystem is the same and fixed (denoted as L), the PPDU duration required by the subsystem to transmit one packet is τ (μ) k )＝L/r(μ k ). Each control period takes time slot as basic unit, and each time slot lengthFrom a TF (TriggerFrame, length T TF ) One PPDU (length τ (μ) k ) One ACK (Acknowledgement, length T) ACK ) One point coordination function interframe space (PIFS, length T) PIFS ) Two short interframe spaces (SIFS, length T SIFS ) Is composed of, i.eThe control period length is denoted as tau max Each control period contains a number of slots of +.> wherein />Representing a downward rounding function.
Using bandwidth as1 RU bandwidth is +.>One PPDU may allow +>Subsystems transmit in parallel, one control period at most being allowed +.>The subsystem transmits.
Defining the channel gain vector of subsystem i as wherein />Indicating that subsystem i is in wireless fading band f j Channel gain on the upper. Let h i,k Remain unchanged for one control period. Given h ik Transmission success rate of subsystem i>From MCS mu k And RU allocation->And (5) jointly determining. Transmission reliability +.>Then there is the expression:
defining the channel gain matrix of all subsystems asThen at H k Given the conditions, the reliability vector of all subsystems is +.>
Secondly, give LQG performance index:
the available information set of the controller in the kth control period is as follows wherein
For the case where there is a packet loss in the transmission, the optimal estimator is as follows:
wherein and Pi,k+1|k+1 The prior estimated value, the optimal estimated value and the optimal estimated error covariance matrix of the subsystem i in the (k+1) th control period are respectively represented.
According to the finite time domain LQG control method, a value function V is defined i,k (x i,k ) The following are provided:
where N is the considered time domain length,is a non-negative definite matrix, ">Is a positive definite matrix.
The optimal state feedback is as follows:
the optimal state feedback is substituted into the value function, and the method can be obtained:
wherein Are non-negative definite matrices, and the specific values are as follows:
and satisfy S i,N ＝W i,N ，T i,N ＝W i,N ，D i,N ＝0。
Data transmission counter i,k+1 The value at the kth control period is updated to
The controller may obtain a state prediction value for subsystem i at the kth control period:
true state x i,k And predicting stateThe error of (2) is:
the expected LQG cost for subsystem i at the kth control period is:
defining a state prediction matrix asThe expected LQG cost sum for the m subsystems at the kth control period is:
finally, give a scheduling problem optimization model:
the optimization objective of the network resource scheduling procedure is to minimize the LQG cost of the whole system, namely:
order theThe above problem is equivalent to:
wherein ck ＝[c 1,k ,c 2,k ,...,c m,k ] T . At the same time, the variable Σ k ，μ k ，α k The following constraints need to be satisfied:
3. resource scheduling policy with control performance priority
The resource scheduling strategy with the priority of control performance is specifically as follows:
given m and c k, wherein ,ck For insubstantial process variables, all subsystems are treated as c i,k Arranged in ascending order before selectionThe subsystems are scheduled, and the subsystem set is marked as +.>RUs allocated to subsystems should be closely arranged and a PPDU of small sequence number should be preferentially allocated according to (1) - (4)>In subsystem selection Σ k and αk And calculates the optimal value +.>For different mu k E, repeating the above process by E M to obtain the minimum Op k Corresponding toScheduling result (marked->Scheduling the first transmission to make the maximum PPDU occupied by the first transmission be ss * 。
After the first transmission scheduling, if there are subsystems with failed transmission and the current control period still has residual PPDUs, retransmission scheduling can be performed. Determining a subsystem set which is not successfully transmitted according to a transmission resultAt this time m 1 ＝|I r |，/>If subsystem i transmits successfully, c i,k =0. Similar to first transmission scheduling, set I r According to c i,k Ascending order, before selecting->The subsystems are scheduled, and the subsystem set is marked as +.>The retransmission procedure still employs ∈ ->The nature of the problem at this time is to go ss 1 The allocation of individual PPDUs to->The subsystem then performs +_ according to the available scheduling results> and />For->And (3) carrying out retransmission scheduling on the subsystem in the system. The retransmission process continues until all subsystems are successfully transmitted or the current control period is over.

Claims (9)

1. The wireless networking control system resource scheduling method based on IEEE 802.11ax is characterized by comprising the following steps:
1) Computing c for all subsystems k All subsystems are processed according to c i,k Ascending order arrangement, selecting a plurality of subsystems to dispatch, and marking a subsystem set as
2) Is thatIn subsystem selection Σ k and αk And calculates the optimal value +.> Uplink reliability vector for all subsystems>Σ k Allocating results, alpha, for all subsystem resource units RU k Allocating result mu for maximum protocol data unit PPDU of all subsystems k Parameters for the modulation and coding scheme;
3) For different mu k E M repeating step 2), wherein m= {0,1,2,..10, 11} is the range of values of the parameters of the modulation and coding scheme, taking the smallest Op k The corresponding dispatching result is thatΣ k ,α k Scheduling the first transmission to make the maximum protocol data unit (PPDU) occupied by the first transmission be ss *， ，ss * The maximum PPDU sequence number occupied for the first transmission;
4) After the first transmission scheduling, if a subsystem with failed transmission exists and the current control period still has residual PPDU, carrying out retransmission scheduling until all subsystems are successfully transmitted or the current control period is finished;
5) Updating counter l i,k+1 ；
6) Calculating control inputsSending to subsystem i;
7) The subsystem i state evolves.
2. The method for scheduling resources of wireless networked control system based on IEEE 802.11ax as recited in claim 1, wherein in said step 1), c of all subsystems is calculated k The method specifically comprises the following steps:
wherein Tr represents the matrix taking trace; s is S i,k and Ti,k An intermediate variable matrix in the calculation process; a is that i Is a system matrix; p (P) i,k-1|k-1 An error covariance matrix for optimal estimation of the subsystem i; q (Q) i Covariance matrix of subsystem i system noise;
c k ＝[c 1,k ,c 2,k ,...,c m,k ] T
wherein ,Wi,k and Ui,k To calculate the intermediate variable matrix in the process, B i In order to input the matrix of the data,c for uplink transmission reliability i,k C for subsystem i k Values.
3. The method for scheduling resources of wireless networked control system based on IEEE 802.11ax as recited in claim 1, wherein in said step 1), since a protocol data unit PPDU duration required for transmitting one data packet per subsystem is τ (μ) k )＝L/r(μ k ) Where L is the packet size of each subsystem, each control period is in time slot as basic unit, each time slot lengthFrom a length T TF Is of length tau (mu) k ) A PPDU of length T ACK An ACK slot of length T PIFS Inter-frame spacing of point coordination function of (2) and two lengths T SIFS Is composed of a short inter-frame space SIFS, i.e. +.>The control period length is denoted as tau max Each control period contains a number of slots of +.> wherein />Representing a downward rounding function, employing a bandwidth of1 resource unit RU bandwidth is +.>Then a PPDU is allowed->Subsystems transmit in parallel, one control period at most being allowed +.>The subsystem transmits, therefore, before choosing +.>The subsystem performs scheduling.
4. The method for scheduling resources of an IEEE 802.11 ax-based wireless networking control system according to claim 1, wherein said Σ in step 2) is k and αk The method specifically comprises the following steps:
in the kth control period, define f 1 ,f 2 ,…,f b Representing b different sub-bands having the same bandwidth, defining a Boolean variable for each sub-systemIf subsystem i is in band f j Upper transmission, then->On the contrary->For subsystem i, the vector composed of the Boolean variables corresponding to all its bands is denoted +.>For the instituteWith subsystems, their->The matrix formed is marked->
For PPDU allocation, a boolean variable is defined for each subsystemIf, in the kth control period, subsystem i transmits on PPDUs, s=1, 2, ss (μ k ) Then->On the contrary->For subsystem i, the vector of all its PPDU-corresponding Boolean variables is denoted +.>For all subsystems, their alpha i,k The matrix formed is marked->
5. The wireless networking control system resource scheduling method based on IEEE 802.11ax as recited in claim 1, wherein the calculating the optimal valueThe method comprises the following steps:
wherein ,ck ＝[c 1,k ,c 2,k ,...,c m,k ] T At the same time, the variable Σ k ，μ k ，α k The following constraints need to be satisfied:
wherein, the collectionIs the Boolean vector alpha i,k Feasible set, set->Is Boolean vector->The set m= {0,1,2, 10,11} is the modulation and coding scheme parameter MCS value μ for each subsystem k Is a viable set of (a).
6. The wireless networking control system resource scheduling method based on IEEE 802.11ax according to claim 1, wherein the retransmission scheduling includes the steps of:
4.1 Determining a set of unsuccessfully transmitted subsystems based on the transmission resultsAt this time m 1 ＝|I r |，
4.2 If subsystem i successfully transmits, c) i,k ＝0；
4.3 To be assembled I) r According to c i,k Arranged in ascending order before selectionThe subsystems are scheduled, and the subsystem set is marked as +.>
4.4 According to the obtained feasible scheduling result and />For->The subsystem in (a) performs retransmission scheduling, namely ss 1 The allocation of individual PPDUs to->And a subsystem.
7. The method for scheduling resources of a wireless networked control system based on IEEE 802.11ax according to claim 1, wherein the step 5) specifically includes:
transmission counter l i,k+1 The control period is updated as follows:
wherein ,γi,k A bernoulli random variable is a flag indicating successful or unsuccessful transmission of an uplink packet for subsystem i.
8. The method for scheduling resources of a wireless networked control system based on IEEE 802.11ax according to claim 1, wherein the step 6) specifically includes:
wherein ,Ai As a system matrix, B i For input matrix S i,k+1 and Ui,k For the intermediate variable matrix in the calculation process,l for state estimation at the kth control period i,k For feedback matrix, i.e.)>
9. The method for scheduling resources of a wireless networked control system based on IEEE 802.11ax according to claim 1, wherein the step 7) specifically includes:
x i,k+1 ＝Α i x i,k +Β i u i,k +w i,k
wherein ,is a state vector +.>For control input +.>For the system matrix->For input matrix +.>Is a real number, w i,k Is 0 as the mean value and Q as the covariance matrix i Is white gaussian noise;
in the kth control period, the sensor of subsystem i will periodically sample the resulting state information x i,k Transmitting to a controller at the AP over a wireless channel; the controller is based on the received status informationCalculating state estimate->And control input u i,k And u is passed through the AP i,k An actuator sent to subsystem i; the actuator receives a control input u i，k Acting on subsystem i.
CN202310602949.8A 2023-05-26 2023-05-26 Wireless networking control system resource scheduling method based on IEEE 802.11ax Pending CN116991120A (en)

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