Improving Control Performance by Minimizing Jitter in RT-WiFi Networks

Quan Leng, Yi-Hung Wei, Song Han, A. Mok, Wenlong Zhang, M. Tomizuka
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引用次数: 34

Abstract

Wireless networked control systems have received significant attention due to their great advantages in enhanced system mobility, and reduced deployment and maintenance cost. To support a wide range of high-speed wireless control applications, we presented in our prior work the design and implementation of a flexible real-time high-speed wireless communication platform called RT-WiFi. RT-WiFi currently provides up to 6kHz sampling rate and deterministic timing guarantee on packet delivery. While guaranteed delivery latency is essential for networked control, control performance is also impacted by communication jitter and other QoS parameters. To reduce jitter, a flexible network manager is needed to control network-wide scheduling of packet transportation. In this paper, we present an RT-WiFi network manager design and propose efficient solutions for two fundamental RT-WiFi network management problems. To improve control performance in networked control systems, our RT-WiFi network manager is designed to generate data link layer communication schedule with minimum jitter under both static and dynamic network topologies. In order to minimize network management overhead, an efficient data structure called S-tree is invented to manage the communication requests to deal with network dynamics. We have implemented the RT-WiFi network manager, and validated its network and control performance through extensive experiments with a real application.
通过最小化RT-WiFi网络中的抖动来提高控制性能
无线网络控制系统由于其在增强系统移动性、降低部署和维护成本方面的巨大优势而受到广泛关注。为了支持广泛的高速无线控制应用,我们在之前的工作中提出了一种灵活的实时高速无线通信平台RT-WiFi的设计和实现。目前,RT-WiFi提供高达6kHz的采样率和数据包传输的确定性定时保证。虽然保证传输延迟对网络控制至关重要,但控制性能也受到通信抖动和其他QoS参数的影响。为了减少抖动,需要一个灵活的网络管理器来控制网络范围内的数据包传输调度。在本文中,我们提出了一种RT-WiFi网络管理器设计,并针对两个基本的RT-WiFi网络管理问题提出了有效的解决方案。为了提高网络控制系统的控制性能,我们的RT-WiFi网络管理器旨在生成静态和动态网络拓扑下抖动最小的数据链路层通信调度。为了最大限度地减少网络管理开销,发明了一种高效的数据结构S-tree来管理通信请求,以处理网络动态。我们实现了RT-WiFi网络管理器,并通过实际应用的大量实验验证了其网络和控制性能。
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