Transmission Scheduling for Multi-Subsystem WNCS with Energy Harvesting Based on LQ Cost.

We study the transmission scheduling policy over packet loss channel for a wireless networked control system (WNCS) with multiple subsystems equipped with energy harvesting powered sensors, based on linear quadratic (LQ) control cost. The challenges lie in that formulating the LQ cost exactly is complicated considering scheduling decisions, packet loss process and sensors' energy states, and the sensors' energy states are not completely available at the scheduler due to harvest energy's randomness and packet loss. In the case of using linear quadratic Gaussian method for control with Kalman filter to estimate process states, we propose a central online policy based on LQ cost expectation. Simulation results show significant performance gain of the proposed policy in time-average LQ cost.