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Infinite-Horizon Sequence-based Networked Control without Acknowledgments

Dolgov, Maxim 1; Fischer, Jörg 1; Uwe D. Hanebeck
1 Institut für Anthropomatik und Robotik (IAR), Karlsruher Institut für Technologie (KIT)

Abstract:

In this paper, we consider infinite-horizon networked LQG control over multipurpose networks that do not provide acknowledgments (UDP-like networks). The information communicated over the networks experiences transmission delays and losses that are modeled as stochastic processes. In oder to mitigate the delays and losses in the controller-actuator channel, the controller transmits sequences of predicted control inputs in addition to the current control input. To be able to mitigate delays and losses in the feedback channel, the estimator computes the estimate using M last measurements. In this scenario, the separation principle does not hold and the optimal control law is in general nonlinear. However, assuming that the controller and the estimator are linear and possess constant gains, we are able to derive the control law. The presented control law is evaluated by means of simulations.


Originalveröffentlichung
DOI: 10.1109/ACC.2015.7170769
Scopus
Zitationen: 9
Dimensions
Zitationen: 8
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2015
Sprache Englisch
Identifikator ISBN: 978-1-4799-8685-9
ISSN: 0743-1619
KITopen-ID: 1000051031
Erschienen in Proceedings of the 2015 American Control Conference (ACC 2015), 1-3 July 2015, Chicago, IL, USA
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 402-408
Serie Proceedings of the American Control Conference ; 2015
Nachgewiesen in Dimensions
Scopus
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