Wireless networked control systems (WNCSs) are control systems whose components are connected through wireless networks. In WNCSs, a controlled object (CO) could become unstable due to bursty packet losses in addition to random packet losses and round-trip delays on wireless networks. In this paper, to reduce these network-induced effects, we propose a new design for multihop TDMA-based WNCSs with two-disjoint-path switching, where two disjoint paths are established between a controller and a CO, and they are switched if bursty packet losses are detected. In this system, we face the following two difficulties: (i) link scheduling in TDMA should be done in such a way that two paths can be switched without rescheduling, taking into account of the constraint of control systems. (ii) the conventional cross-layer design method of control systems is not directly applicable because round-trip delays may vary according to the path being used. Therefore, to overcome the difficulties raised by the two-path approach, we reformulate link scheduling in multihop TDMA and cross-layer design for control systems. Simulation results confirm that the proposed WNCS achieves better performance in terms of the 2-norm of CO's states.

We study wireless networked control systems (WNCSs), where controllers (CLs), controlled objects (COs), and other devices are connected through wireless networks. In WNCSs, COs can become unstable due to bursty packet losses and random delays on wireless networks. To reduce these network-induced effects, we utilize the packetized predictive control (PPC) method, where future control vectors to compensate bursty packet losses are generated in the receiving horizon manner, and they are packed into packets and transferred to a CO unit. In this paper, we extend the PPC method so as to compensate random delays as well as bursty packet losses. In the extended PPC method, generating many control vectors improves the robustness against both problems while it increases traffic on wireless networks. Therefore, we consider control vector selection to improve the robustness effectively under the constraint of single packet transmission. We first reconsider the input strategy of control vectors received by COs and propose a control vector selection scheme suitable for the strategy. In our selection scheme, control vectors are selected based on the estimated average and variance of round-trip delays. Moreover, we solve the problem that the CL may misconceive the CO's state due to insufficient information for state estimation. Simulation results show that our selection scheme achieves the higher robustness against both bursty packet losses and delays in terms of the 2-norm of the CO's state.