Anytime Control Under Practical Communication Models

In this article, we investigate a novel anytime control algorithm for wireless networked control with random dropouts. The controller computes sequences of tentative future control commands using time-varying (Markovian) computational resources. The sensor–controller and controller–actuator channel states are spatial- and time-correlated, respectively, and are modeled as a multistate Markov process. To compensate the effect of packet dropouts, a dual-buffer mechanism is proposed. We develop a novel cycle-cost-based approach to obtain the stability conditions on the nonlinear plant, controller, network, and computational resources.