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In this paper, we study wireless networked control systems in which thesensing devices are powered by energy harvesting. We consider a scenario withmultiple plants, where the sensors communicate their measurements to theirrespective controllers over a shared wireless channel. Due to the shared natureof the medium, sensors transmitting simultaneously can lead to packetcollisions. In order to deal with this, we propose the use of random accesscommunication policies and, to this end, we translate the control performancerequirements to successful packet reception probabilities. The optimalscheduling decision is to transmit with a certain probability, which isadaptive to plant, channel and battery conditions. Moreover, we provide astochastic dual method to compute the optimal scheduling solution, which isdecoupled across sensors, with only some of the dual variables needed to beshared between nodes. Furthermore, we also consider asynchronicity in thevalues of the variables across sensor nodes and provide theoretical guaranteeson the stability of the control systems under the proposed random accessmechanism. Finally, we provide extensive numerical results that corroborate ourclaims.

Random Access Communication for Wireless Control Systems with Energy Harvesting Sensors