Predictive control over wireless multi-hop networks

Remote control over wireless multi-hop networks is considered. Time-varying delays for the transmission of sensor and control data over the wireless network are caused by a randomized multi-hop routing protocol. The characterstics of the routing protocol together with lower-layer network mechanisms give rise to a delay process with high variance and stepwise changing mean. A new predictive control scheme with a delay estimator is proposed in the paper. The estimator is based on a Kalman filter with a change detection algorithm. It is able to track the delay mean changes but efficiently attenuate the high frequency jitter The control scheme is analyzed and its implementation detailed. Network data from an experimental setup are used to illustrate the efficiency of the approach.