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We consider a communication network over which transmissions must fulfill theso-called token bucket traffic specification, with a rollout (i.e., predictive)controller that both schedules transmissions and computes the correspondingcontrol values. In the token bucket specification, a transmission is allowed ifthe current level of tokens is above a certain threshold. Recently, it has beenshown that having a full bucket at the time of a set point change significantlyimproves the control performance as compared to when the bucket level is low.In this work, we develop mechanisms that guarantee that the bucket fills upafter the controlled plant has converged to a set point. To do this, weconsider two different setups. First, we consider that all transmissions overthe network must fulfill the token bucket specification and show convergence tothe upper sector of the bucket by adding a slight terminal cost on the bucketlevel. Afterwards, we consider a modified network which additionally features adirect link over which transmissions need not fulfill the token bucketspecification. In this setup, we prove convergence of the bucket level exactlyto the upper rim. These mechanisms enable a similar level of flexibility asevent-triggered control: In converged state, little communication is used whilein precarious operating conditions, a burst of transmissions is possible. Otherthan event-triggered approaches, the proposed methods allow to specify thenetwork traffic beforehand by means of the token bucket. Lastly, we validatethe proposed approaches in a numerical example.

Saving Tokens in Rollout Control with Token Bucket Specification