TY - GEN
T1 - Receding horizon networked control
AU - Gupta, Vijay
AU - Sinopoli, Bruno
AU - Adlakha, Sachin
AU - Goldsmith, Andrea
AU - Murray, Richard
PY - 2006
Y1 - 2006
N2 - This paper deals with the design of control systems over lossy networks. A network is assumed to exist between the sensor and the controller and between the latter and the actuator. Packets are dropped according to a Bernoulli independent process, with and μ being the probabilities of losing an observation packet and a control packet respectively, at time any instant t. A receding horizon control scheme is proposed for the Linear Quadratic Control (LQG) problem. At each instant N future control inputs are sent in addition to the current one. Under this scheme the separation of estimation and control is shown and stability conditions, dependent on loss probabilities, are provided. Simulations show how the overall performance, in terms of lower cost, increases with the length of the horizon.
AB - This paper deals with the design of control systems over lossy networks. A network is assumed to exist between the sensor and the controller and between the latter and the actuator. Packets are dropped according to a Bernoulli independent process, with and μ being the probabilities of losing an observation packet and a control packet respectively, at time any instant t. A receding horizon control scheme is proposed for the Linear Quadratic Control (LQG) problem. At each instant N future control inputs are sent in addition to the current one. Under this scheme the separation of estimation and control is shown and stability conditions, dependent on loss probabilities, are provided. Simulations show how the overall performance, in terms of lower cost, increases with the length of the horizon.
UR - https://www.scopus.com/pages/publications/84907923128
M3 - Conference contribution
AN - SCOPUS:84907923128
T3 - 44th Annual Allerton Conference on Communication, Control, and Computing 2006
SP - 169
EP - 176
BT - 44th Annual Allerton Conference on Communication, Control, and Computing 2006
PB - University of Illinois at Urbana-Champaign, Coordinated Science Laboratory and Department of Computer and Electrical Engineering
T2 - 44th Annual Allerton Conference on Communication, Control, and Computing 2006
Y2 - 27 September 2006 through 29 September 2006
ER -