Receding horizon networked control

Vijay Gupta, Bruno Sinopoli, Sachin Adlakha, Andrea Goldsmith, Richard Murray

Research output: Chapter in Book/Report/Conference proceedingConference contribution

36 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication44th Annual Allerton Conference on Communication, Control, and Computing 2006
PublisherUniversity of Illinois at Urbana-Champaign, Coordinated Science Laboratory and Department of Computer and Electrical Engineering
Pages169-176
Number of pages8
ISBN (Electronic)9781604237924
StatePublished - 2006
Externally publishedYes
Event44th Annual Allerton Conference on Communication, Control, and Computing 2006 - Monticello, United States
Duration: Sep 27 2006Sep 29 2006

Publication series

Name44th Annual Allerton Conference on Communication, Control, and Computing 2006
Volume1

Other

Other44th Annual Allerton Conference on Communication, Control, and Computing 2006
CountryUnited States
CityMonticello
Period9/27/069/29/06

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Computer Networks and Communications

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