Stability analysis of stochastic prioritized dynamic scheduling for resource-aware heterogeneous multi-loop control systems

The aim of this paper is to develop a networked resource-aware control scheme by assigning dynamic priorities to acquire a scarce resource. The networked control system is assumed to consist of a finite number of heterogeneous stochastic control systems whose feedback loops are closed over a shared constrained communication channel. The scheduler decides which subsystem utilizes the channel, and subsequently which controller is updated with real state values. We introduce a prioritized error-based (PEB) scheduling protocol which allocates the resource according to a network-induced error function, such that the likelihood to allocate the resource to a subsystem increases with the growing error norm. By using drift criteria, we prove the described system is stochastically stable under very mild conditions. Numerical simulations show that the stability of the overall NCS along with a significant control performance improvement in comparison to the other protocols.