TY - GEN

T1 - LQG control for distributed systems over TCP-like erasure channels

AU - Garone, E.

AU - Sinopoli, B.

AU - Goldsmith, A.

AU - Casavola, A.

PY - 2007

Y1 - 2007

N2 - This paper is concerned with control applications over lossy data network. Sensor data is transmitted to an estimation-control unit over a network and control commands are issued to subsystems over the same network. Sensor and control packets may be randomly lost according to a Bernoulli process. In this context the discrete-time Linear Quadratic Gaussian (LQG) optimal control problem is considered. In [1] a complete analysis was carried out for the case the network is composed of a single sensor and control channel. Here a nontrivial generalization to the case of sensor and actuator networks with p distinct sensor channels and m control channels is presented. It has been proven that the separation principle still holds for all protocols where packets are acknowledged by the receiver (e.g. TCP-like protocols). Moreover it has been pointed out for the first time that the optimal LQG control is a linear function of the state that explicitly depends on the command channels lost probabilities. Such a dependence is not present in pre-existing literature, since the amplitude of each control input has to be weighted by the loss probability associated to its own channel. This is not observed in the single channel case. In the infinite horizon case stability conditions on the arrival are derived. Their computation requires the use of Linear Matrix Inequalities (LMIs).

AB - This paper is concerned with control applications over lossy data network. Sensor data is transmitted to an estimation-control unit over a network and control commands are issued to subsystems over the same network. Sensor and control packets may be randomly lost according to a Bernoulli process. In this context the discrete-time Linear Quadratic Gaussian (LQG) optimal control problem is considered. In [1] a complete analysis was carried out for the case the network is composed of a single sensor and control channel. Here a nontrivial generalization to the case of sensor and actuator networks with p distinct sensor channels and m control channels is presented. It has been proven that the separation principle still holds for all protocols where packets are acknowledged by the receiver (e.g. TCP-like protocols). Moreover it has been pointed out for the first time that the optimal LQG control is a linear function of the state that explicitly depends on the command channels lost probabilities. Such a dependence is not present in pre-existing literature, since the amplitude of each control input has to be weighted by the loss probability associated to its own channel. This is not observed in the single channel case. In the infinite horizon case stability conditions on the arrival are derived. Their computation requires the use of Linear Matrix Inequalities (LMIs).

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U2 - 10.1109/CDC.2007.4434947

DO - 10.1109/CDC.2007.4434947

M3 - Conference contribution

AN - SCOPUS:62749094702

SN - 1424414989

SN - 9781424414987

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 44

EP - 49

BT - Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC

T2 - 46th IEEE Conference on Decision and Control 2007, CDC

Y2 - 12 December 2007 through 14 December 2007

ER -