Adaptive model based predictive networked control over WSAN with tolerance to transmission faults on the forward channel

Remote control based on an adaptive predictive control scheme over wireless sensor and actuator networks is considered. To cope with possible faults on the forward channel linking the base station and actuator nodes a fault tolerant mechanism relying on a hierarchical multi-agent framework is implemented locally on each actuator node. Experimental results using a testbed show the effectiveness of the proposed scheme in accommodating transmission faults on the forward channel.