Sensing-Communication-Computing-Control Closed Loop for NOMA-UAV Systems

doi:10.23919/JCC.fa.2023-0795.202408

Sensing-Communication-Computing-Control Closed Loop for NOMA-UAV Systems

2024-08-01

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DOI：10.23919/JCC.fa.2023-0795.202408

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In the areas without terrestrial communication infrastructures, unmanned aerial vehicles (UAVs) can be utilized to serve field robots for mission-critical tasks. For this purpose, UAVs can be equipped with sensing, communication, and computing modules to support various requirements of robots. In the task process, different modules assist the robots to perform tasks in a closed-loop way, which is referred to as a sensing-communication-computing-control (SC3) loop. In this work, we investigate a UAV-aided system containing multiple SC3 loops, which leverages non-orthogonal multiple access (NOMA) for efficient resource sharing. We describe and compare three different modelling levels for the SC3 loop. Based on the entropy SC3 loop model, a sum linear quadratic regulator (LQR) control cost minimization problem is formulated by optimizing the communication power. Further for the assure-to-be-stable case, we show that the original problem can be approximated by a modified user fairness problem, and accordingly gain more insights into the optimal solutions. Simulation results demonstrate the performance gain of using NOMA in such task-oriented systems, as well as the superiority of our proposed closed-loop-oriented design.

Keywords:

closed loop

linear quadratic regulator (LQR)

non-orthogonal multiple access (NOMA)

power allocation

unmanned aerial vehicle (UAV)

Sensing-Communication-Computing-Control Closed Loop for NOMA-UAV Systems

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