We develop a framework for communication-control co-design in a wireless networked control system with multiple geographically separated controllers and controlled systems, modeled via a Poisson point process. Each controlled system consists of an actuator, plant, and sensor. Controllers receive state estimates from sensors and design control inputs, which are sent to actuators over a shared wireless channel, causing interference. Our co-design includes control strategies at the controller based on sensor measurements and transmission acknowledgments from the actuators for both rested and restless systems - systems with and without state feedback, respectively. In the restless system, controllability depends on consecutive successful transmissions, while in the rested system, it depends on total successful transmissions. We use both classical and block ALOHA protocols for channel access, optimizing access based on sensor data and acknowledgments. A statistical analysis of control performance is followed by a Thompson sampling-based algorithm to optimize the ALOHA parameter, achieving sub-linear regret. We show how the ALOHA parameter influences control performance and transmission success in both system types.

翻译：我们为具有多个地理分离控制器与被控系统的无线网络化控制系统开发了一个通信-控制协同设计框架，该系统通过泊松点过程建模。每个被控系统包含一个执行器、被控对象和传感器。控制器接收来自传感器的状态估计并设计控制输入，这些输入通过共享无线信道发送给执行器，从而引起干扰。我们的协同设计包括基于传感器测量和执行器传输确认的控制器控制策略，分别针对静止系统与活跃系统——即分别具有和不具有状态反馈的系统。在活跃系统中，可控性取决于连续成功传输的次数；而在静止系统中，可控性则取决于总成功传输次数。我们采用经典ALOHA和分块ALOHA协议进行信道接入，并基于传感器数据和确认信息优化接入策略。通过对控制性能进行统计分析，我们提出了一种基于汤普森采样的算法来优化ALOHA参数，实现了次线性遗憾。我们展示了ALOHA参数如何影响两类系统的控制性能与传输成功率。