Event-Driven Joint Mobile Actuators Scheduling and Control in Cyber-Physical Systems

In cyber-physical systems, mobile actuators can enhance system's flexibility and scalability, but at the same time incurs complex couplings in the scheduling and controlling of the actuators. In this paper, we propose a novel event-driven method aiming at satisfying a required level of control accuracy and saving energy consumption of the actuators, while guaranteeing a bounded action delay. We formulate a joint-design problem of both actuator scheduling and output control. To solve this problem, we propose a two-step optimization method. In the first step, the problem of actuator scheduling and action time allocation is decomposed into two subproblems. They are solved iteratively by utilizing the solution of one in the other. The convergence of this iterative algorithm is proved. In the second step, an online method is proposed to estimate the error and adjust the outputs of the actuators accordingly. Through simulations and experiments, we demonstrate the effectiveness of the proposed method.