The Wireless Control Bus
Enabling Efficient Multi-Hop Event-Triggered Control with Concurrent Transmissions
Matteo Trobinger (Università di Trento)
Gabriel de Albuquerque De Gleizer (TU Delft - Team Manuel Mazo Jr)
Timofei Istomin (Università di Trento)
M Mazo Jr. (TU Delft - Team Manuel Mazo Jr)
Amy L. Murphy (Fondazione Bruno Kessler)
Gian Pietro Picco (Università di Trento)
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Abstract
Event-triggered control (ETC) holds the potential to significantly improve the efficiency of wireless networked control systems. Unfortunately, its real-world impact has hitherto been hampered by the lack of a network stack able to transfer its benefits from theory to practice specifically by supporting the latency and reliability requirements of the aperiodic communication ETC induces. This is precisely the contribution of this article.Our Wireless Control Bus (WCB) exploits carefully orchestrated network-wide floods of concurrent transmissions to minimize overhead during quiescent, steady-state periods, and ensures timely and reliable collection of sensor readings and dissemination of actuation commands when an ETC triggering condition is violated. Using a cyber-physical testbed emulating a water distribution system controlled over a real-world multi-hop wireless network, we show that ETC over WCB achieves the same quality of periodic control at a fraction of the energy costs, therefore unleashing and concretely demonstrating its full potential for the first time.
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