In this paper, we study wireless networked control systems with energy harvesting sensors. Multiple sensors share a wireless medium over which they transmit measurements to their respective controllers, and due to the shared medium, packet collisions occur if sensors transmit simultaneously. To alleviate this problem, we propose random access policies that satisfy a desired control performance on each control loop, while also satisfying the energy constraints imposed by the energy harvesting process. The optimal scheduling policy is shown to follow a simple thresholding operation. Moreover, we provide a stochastic dual method for their computation, which is shown to be decoupled across sensors. Finally, we verify numerically the properties of the proposed policy

Grant numbers : This work was partially supported by the Catalan government under grant SGR2014-1567; the Spanish government under grant TEC2013-44591-P (INTENSYV) and grant PCIN-2013-027 (E-CROPS).© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.