{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T09:13:57Z","timestamp":1775121237059,"version":"3.50.1"},"reference-count":50,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2019,3,29]],"date-time":"2019-03-29T00:00:00Z","timestamp":1553817600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","award":["NRF-2017R1A4A1015744"],"award-info":[{"award-number":["NRF-2017R1A4A1015744"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The stability guarantee of wireless networked control systems is still challenging due to the complex interaction among the layers and the vulnerability to network faults, such as link and node failures. In this paper, we propose a robust wireless sensor and actuator network (R-WSAN) to maintain the control stability of multiple plants over the spatial-temporal changes of wireless networks. The proposed joint design protocol combines the distributed controller of control systems and the clustering, resource scheduling, and control task sharing scheme of wireless networks over a hierarchical cluster-based network. In particular, R-WSAN decouples the tasks from the inherently unreliable nodes and allows control tasks to share between nodes of wireless networks. Our simulations demonstrate that R-WSAN provides the enhanced resilience to the network faults for sensing and actuation without significantly disrupting the control performance.<\/jats:p>","DOI":"10.3390\/s19071535","type":"journal-article","created":{"date-parts":[[2019,3,29]],"date-time":"2019-03-29T13:09:58Z","timestamp":1553864998000},"page":"1535","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Robust Wireless Sensor and Actuator Networks for Networked Control Systems"],"prefix":"10.3390","volume":"19","author":[{"given":"Bongsang","family":"Park","sequence":"first","affiliation":[{"name":"Department of Radio and Information Communications Engineering, Chungnam National University, Daejeon 34134, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9975-239X","authenticated-orcid":false,"given":"Junghyo","family":"Nah","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chungnam National University, Daejeon 34134, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jang-Young","family":"Choi","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chungnam National University, Daejeon 34134, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ick-Jae","family":"Yoon","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Chungnam National University, Daejeon 34134, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3744-4476","authenticated-orcid":false,"given":"Pangun","family":"Park","sequence":"additional","affiliation":[{"name":"Department of Radio and Information Communications Engineering, Chungnam National University, Daejeon 34134, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,3,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"978","DOI":"10.1109\/COMST.2017.2780114","article-title":"Wireless network design for control systems: A survey","volume":"20","author":"Park","year":"2018","journal-title":"IEEE Commun. Surv. Tutor."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1013","DOI":"10.1109\/JPROC.2015.2497161","article-title":"Real-time wireless sensor-actuator networks for industrial cyber-physical systems","volume":"104","author":"Lu","year":"2016","journal-title":"Proc. IEEE"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1109\/MIE.2017.2703603","article-title":"Wireless High-Performance Communications: The Challenges and Opportunities of a New Target","volume":"11","author":"Pang","year":"2017","journal-title":"IEEE Ind. Electron. Mag."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"116","DOI":"10.1109\/LCOMM.2016.2612188","article-title":"Performance Comparison of Industrial Wireless Networks for Wireless Avionics Intra-Communications","volume":"21","author":"Park","year":"2017","journal-title":"IEEE Commun. Lett."},{"key":"ref_5","unstructured":"ISA (2011). ANSI\/ISA-100.11a-2011 Wireless Systems for Industrial Automation: Process Control and Related Applications, ISA."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1109\/MIE.2011.943023","article-title":"WirelessHART versus ISA100.11a: The format war hits the factory floor","volume":"5","author":"Petersen","year":"2011","journal-title":"IEEE Ind. Electron. Mag."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Park, P., Araujo, J., and Johansson, K.H. (2011, January 11\u201313). Wireless Networked Control System Co-Design. Proceedings of the IEEE International Conference on Networking, Sensing and Control (ICNSC), Delft, The Netherland.","DOI":"10.1109\/ICNSC.2011.5874926"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Li, B., Ma, Y., Westenbroek, T., Wu, C., Gonzalez, H., and Lu, C. (2016, January 11\u201314). Wireless routing and control: A cyber-physical case study. Proceedings of the ACM\/IEEE International Conference on Cyber-Physical Systems (ICCPS), Vienna, Austria.","DOI":"10.1109\/ICCPS.2016.7479131"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Gnawali, O., Fonseca, R., Jamieson, K., Moss, D., and Levis, P. (2009, January 4\u20136). Collection tree protocol. Proceedings of the ACM Conference on Embedded Networked Sensor Systems (SenSys), Berkeley, CA, USA.","DOI":"10.1145\/1644038.1644040"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Landsiedel, O., Ghadimi, E., Duquennoy, S., and Johansson, M. (2012, January 16\u201320). Low power, low delay: Opportunistic routing meets duty cycling. Proceedings of the ACM\/IEEE International Conference on Information Processing in Sensor Networks (IPSN), Beijing, China.","DOI":"10.1145\/2185677.2185731"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Duquennoy, S., Landsiedel, O., and Voigt, T. (2013, January 11\u201315). Let the tree bloom: Scalable opportunistic routing with ORPL. Proceedings of the ACM Conference on Embedded Networked Sensor Systems (SenSys), Roma, Italy.","DOI":"10.1145\/2517351.2517369"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"827","DOI":"10.1109\/LCOMM.2015.2409064","article-title":"Traffic Generation Rate Control of Wireless Sensor and Actuator Networks","volume":"19","author":"Park","year":"2015","journal-title":"IEEE Commun. Lett."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"138","DOI":"10.1109\/JPROC.2006.887288","article-title":"A survey of recent results in networked control systems","volume":"95","author":"Hespanha","year":"2007","journal-title":"Proc. IEEE"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"661","DOI":"10.1109\/JSAC.2008.080508","article-title":"Optimizing controller location in networked control systems with packet drops","volume":"26","author":"Robinson","year":"2008","journal-title":"IEEE J. Sel. Areas Commun."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1130","DOI":"10.1109\/JPROC.2005.849717","article-title":"Wireless technology in industrial networks","volume":"93","author":"Willig","year":"2005","journal-title":"Proc. IEEE"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"821","DOI":"10.1109\/TMC.2010.223","article-title":"Breath: An Adaptive Protocol for Industrial Control Applications Using Wireless Sensor Networks","volume":"10","author":"Park","year":"2011","journal-title":"IEEE Trans. Mob. Comput."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"550","DOI":"10.1109\/TPDS.2012.159","article-title":"Modeling and Optimization of the IEEE 802.15.4 Protocol for Reliable and Timely Communications","volume":"24","author":"Park","year":"2013","journal-title":"IEEE Trans. Parallel Distrib. Syst."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"2826","DOI":"10.1016\/j.comcom.2007.05.024","article-title":"A survey on clustering algorithms for wireless sensor networks","volume":"30","author":"Abbasi","year":"2007","journal-title":"Comput. Commun."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"660","DOI":"10.1109\/TWC.2002.804190","article-title":"An application-specific protocol architecture for wireless microsensor networks","volume":"1","author":"Heinzelman","year":"2002","journal-title":"IEEE Trans. Wirel. Commun."},{"key":"ref_20","unstructured":"Bandyopadhyay, S., and Coyle, E.J. (April, January 30). An energy efficient hierarchical clustering algorithm for wireless sensor networks. Proceedings of the IEEE International Conference on Computer Communications, San Francisco, CA, USA."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Estrin, D., Govindan, R., Heidemann, J., and Kumar, S. (1999, January 15\u201319). Next century challenges: Scalable coordination in sensor networks. Proceedings of the ACM\/IEEE International Conference on Mobile Computing and Networking (MobiCom), Seattle, WA, USA.","DOI":"10.1145\/313451.313556"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"45","DOI":"10.1016\/S1570-8705(03)00047-7","article-title":"Design guidelines for wireless sensor networks: Communication, clustering and aggregation","volume":"2","author":"Mhatre","year":"2004","journal-title":"Ad Hoc Netw."},{"key":"ref_23","unstructured":"IEEE (2012). IEEE Standard for Local and metropolitan area networks\u2014Part 15.4: Low-Rate Wireless Personal Area Networks (LR-WPANs) Amendment 1: MAC sublayer. IEEE Std 802.15.4e-2012 (Amendment to IEEE Std 802.15.4-2011), IEEE."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Duquennoy, S., Elsts, A., Nahas, B.A., and Oikonomo, G. (2017, January 5\u20137). TSCH and 6TiSCH for Contiki: Challenges, Design and Evaluation. Proceedings of the International Conference on Distributed Computing in Sensor Systems (DCOSS), Ottawa, ON, Canada.","DOI":"10.1109\/DCOSS.2017.29"},{"key":"ref_25","unstructured":"Pister, K., and Doherty, L. (2008, January 16\u201318). TSMP: Time synchronized mesh protocol. Proceedings of the IASTED International Symposium on Distributed Sensor Networks (DSN), Orlando, FL, USA."},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Tsitsiklis, J.N., and Xu, K. (2011, January 7\u201311). On the power of (even a little) centralization in distributed processing. Proceedings of the ACM SIGMETRICS Joint International Conference on Measurement and Modeling of Computer Systems, New York, NY, USA.","DOI":"10.1145\/1993744.1993759"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"165","DOI":"10.1016\/j.comnet.2014.11.003","article-title":"Adaptive synchronization in multi-hop TSCH networks","volume":"76","author":"Chang","year":"2015","journal-title":"Comput. Netw."},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Palattella, M.R., Accettura, N., Dohler, M., Grieco, L.A., and Boggia, G. (2012, January 9\u201312). Traffic aware scheduling algorithm for reliable low-power multi-hop IEEE 802.15.4e networks. Proceedings of the IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC), Sydney, Australia.","DOI":"10.1109\/PIMRC.2012.6362805"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Tinka, A., Watteyne, T., and Pister, K.A. (2010). A decentralized scheduling algorithm for time synchronized channel hopping. Ad Hoc Networks, Springer.","DOI":"10.1007\/978-3-642-17994-5_14"},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Wu, C., Gunatilaka, D., Sha, M., and Lu, C. (2018, January 17\u201320). Real-Time Wireless Routing for Industrial Internet of Things. Proceedings of the IEEE\/ACM Third International Conference on Internet-of-Things Design and Implementation (IoTDI), Orlando, FL, USA.","DOI":"10.1109\/IoTDI.2018.00034"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Duquennoy, S., Al Nahas, B., Landsiedel, O., and Watteyne, T. (2015, January 1\u20134). Orchestra: Robust Mesh Networks Through Autonomously Scheduled TSCH. Proceedings of the ACM Conference on Embedded Networked Sensor Systems (SenSys), Seoul, Korea.","DOI":"10.1145\/2809695.2809714"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"3250","DOI":"10.1109\/TIE.2016.2631530","article-title":"Cross-layer optimization for industrial control applications using wireless sensor and actuator mesh networks","volume":"64","author":"Park","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1145\/2584652","article-title":"Near optimal rate selection for wireless control systems","volume":"13","author":"Saifullah","year":"2014","journal-title":"ACM Trans. Embed. Comput. Syst."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"1575","DOI":"10.1109\/TAC.2009.2015543","article-title":"Stability of networked control systems with uncertain time-varying delays","volume":"54","author":"Cloosterman","year":"2009","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1781","DOI":"10.1109\/TAC.2010.2042352","article-title":"Networked control systems with communication constraints: Tradeoffs between transmission intervals, delays and performance","volume":"55","author":"Heemels","year":"2010","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"84","DOI":"10.1109\/37.898794","article-title":"Stability of networked control systems","volume":"21","author":"Zhang","year":"2001","journal-title":"IEEE Control Syst."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"2101","DOI":"10.1109\/TAC.2011.2107631","article-title":"Stability analysis of networked control systems using a switched linear systems approach","volume":"56","author":"Donkers","year":"2011","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Park, B., Nah, J., Choi, J.-Y., Yoon, I.-J., and Park, P. (2018). Transmission scheduling schemes of industrial wireless sensors for heterogeneous multiple control systems. Sensors, 18.","DOI":"10.3390\/s18124284"},{"key":"ref_39","unstructured":"Lofberg, J. (2004, January 2\u20134). YALMIP: A toolbox for modeling and optimization in MATLAB. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), New Orleans, LA, USA."},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"625","DOI":"10.1080\/10556789908805766","article-title":"Using sedumi 1.02, a Matlab toolbox for optimization over symmetric cones","volume":"11","author":"Sturm","year":"1999","journal-title":"Optim. Methods Softw."},{"key":"ref_41","doi-asserted-by":"crossref","unstructured":"Park, P., Jung, B.C., Lee, H., and Jung, D.-J. (2018). Robust channel allocation with heterogeneous requirements for wireless mesh backbone networks. Sensors, 18.","DOI":"10.3390\/s18082687"},{"key":"ref_42","doi-asserted-by":"crossref","unstructured":"IEEE (2016). IEEE. IEEE Standard for Low-Rate Wireless Networks. IEEE Std 802.15.4-2015 (Revision of IEEE Std 802.15.4-2011), IEEE.","DOI":"10.1109\/TITB.2011.2166649"},{"key":"ref_43","doi-asserted-by":"crossref","unstructured":"Boyd, S., and Vandenberghe, L. (2004). Convex Optimization, Cambridge University Press.","DOI":"10.1017\/CBO9780511804441"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"175","DOI":"10.1109\/TII.2013.2262281","article-title":"System Architectures, Protocols and Algorithms for Aperiodic Wireless Control Systems","volume":"10","author":"Araujo","year":"2014","journal-title":"IEEE Trans. Ind. Inform."},{"key":"ref_45","doi-asserted-by":"crossref","unstructured":"Majeed, M.A., Alhazza, K., and AlSnafi, A. (2016, January 11\u201317). Multi-Mode Vibration Control of Plates Using a Single Actuator and a Single Sensor. Proceedings of the ASME International Mechanical Engineering Congress and Exposition, Phoenix, AZ, USA.","DOI":"10.1115\/IMECE2016-65660"},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"638","DOI":"10.1109\/TASE.2012.2214676","article-title":"A Revolution in the Warehouse: A Retrospective on Kiva Systems and the Grand Challenges Ahead","volume":"9","year":"2012","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"ref_47","unstructured":"Zuniga, M., and Krishnamachari, B. (2005). Link Layer Models for Wireless Sensor Networks, University of Southern California. Technical Report."},{"key":"ref_48","unstructured":"Srinivasan, K., Kazandjieva, M.A., Agarwal, S., and Levis, P. (2008, January 5\u20137). The beta- factor: Measuring wireless link burstiness. Proceedings of the ACM Conference on Embedded Network Sensor Systems (SenSys), Raleigh, NC, USA."},{"key":"ref_49","doi-asserted-by":"crossref","unstructured":"Heemels, W.P., van de Wouw, N., Gielen, R.H., Donkers, M.C., Hetel, L., Olaru, S., Lazar, M., Daafouz, J., and Niculescu, S. (2010, January 12\u201315). Comparison of overapproximation methods for stability analysis of networked control systems. Proceedings of the ACM International Conference on Hybrid Systems: Computation and Control (HSCC), Stockholm, Sweden.","DOI":"10.1145\/1755952.1755979"},{"key":"ref_50","unstructured":"(2016). Zolertia RE-Mote Revision B Internet of Things Hardware Development Platform, for 2.4-GHz and 863\u2013950 MHz IEEE 802.15.4, 6LoWPAN and ZigBee Applications, Zolertia. Datasheet."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/7\/1535\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:41:32Z","timestamp":1760186492000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/7\/1535"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,3,29]]},"references-count":50,"journal-issue":{"issue":"7","published-online":{"date-parts":[[2019,4]]}},"alternative-id":["s19071535"],"URL":"https:\/\/doi.org\/10.3390\/s19071535","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,3,29]]}}}