Cloud Control AGV over Rayleigh Fading Channel - The Faster The Better

Shreya Tayade, Peter Rost, Andreas Maeder, Hans Dieter Schotten

In: Cloud Control AGV over Rayleigh Fading Channel - The Faster The Better. Systems, Communications and Coding (SCC-2019) 12th International ITG Conference on Systems, Communications and Coding, 2019 February 11-14 Rostock Germany VDE ITG 2019.


This paper analyzes the stability of the control system of an Autonomous Guided Vehicle (AGV) using a central controller. The control commands are transmitted to an AGV over a Rayleigh fading channel causing potential packet drops. This paper analyzes the mutual dependencies of control system and mobile communication system. Among the important parameters considered are the sampling time of the discrete control system, the maximum tolerable outages for the control system, the AGV velocity, the number of users, as well as mobile communication channel conditions. It is shown that increasing the velocity of an AGV leads to a lower risk of instability due to the higher time-variance of the mobile channel. While this still is a 'sandbox' example, it shows the potential for a manifold co-optimization of control systems operated over imperfect mobile communication channels.


Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence