Wi-Fi for Constrained Control

Abstract

In this work, we assess the employment of Wi-Fi for constrained control applications. First, we carry out an experimental test to accurately characterize the network behavior in an office environment for different sampling periods and external interference conditions. Tests show that delays are increased for higher traffic loads on other co-existing networks, and that long blackouts can occur, largely limiting remote constrained control of unstable systems. Then, based on the experimental observations, we design a control strategy based on Reference Governor tailored for Wi-Fi networks. An experimental test involving a two-wheeled robot shows the feasibility and the effectiveness of the proposed algorithm compared to standard strategies.