In this paper, a new method of model predictive control (MPC) for a multi-hop control network (MHCN) is proposed. An MHCN is a control system in which plants and controllers are connected through a multi-hop wireless network. In the proposed method, (i) control inputs and (ii) paths used in transmission of control inputs are computed with constant period by solving the finite-time optimal control problem. First, a mathematical model for expressing an MHCN is proposed. This model is given by a switched linear system, and is compatible with MPC. Next, the finite-time optimal control problem using this model is formulated, and is reduced to a mixed integer quadratic programming problem. Finally, a numerical example is presented to show the effectiveness of the proposed method.

We consider a multi-hop control network where a wireless network is used for transmissions of input and output data between a plant and a computing system. We formulate a co-scheduling problem of sampling of the plant's outputs, execution of control tasks, and the routing of data transmissions in the network. Several constraints on control tasks and data transmission are described by logical formulae. By using a SAT solver, we obtain a scheduling satisfying the constraints. Through simulation, we investigate the relationship between the computation time in the SAT solver and the number of nodes in the network.