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Fault Tolerant Control of Multi-Hop Control Networks

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3 Author(s)
D'Innocenzo, A. ; Center of Excellence Department of Electrical and Information Engineering, University of L'Aquila, L'Aquila, Italy ; Di Benedetto, M ; Serra, E.

A multi-hop control network (MCN) consists of a plant where the communication between sensors, actuators, and computational units is supported by a (wireless) multi-hop communication network, and data flow is performed using scheduling and routing of sensing and actuation data. We address the control design problem on a MCN where the plant is a SISO LTI system and links are subject to permanent failures. We first characterize controllability and observability of a MCN: we provide necessary and sufficient conditions on the plant dynamics and on the communication scheduling, and we provide a design methodology to satisfy such conditions for any failure configuration. Then we address the problem of detecting the failure of links of the radio connectivity graph: we provide necessary and sufficient conditions on the plant dynamics and on the communication protocol, and we provide a design methodology to satisfy the above conditions.

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Automatic Control, IEEE Transactions on  (Volume:58 ,  Issue: 6 )