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Optimal sequence-based LQG control over TCP-like networks subject to random transmission delays and packet losses

Fischer, J.; Hekler, A.; Dolgov, M.; Hanebeck, U. D.

Abstract:
This paper addresses the problem of sequence-based controller design for Networked Control Systems (NCS), where control inputs and measurements are transmitted over TCP-like network connections that are subject to stochastic packet losses and time-varying packet delays. At every time step, the controller sends a sequence of predicted control inputs to the actuator in addition to the current control input. In this sequence-based setup, we derive an optimal solution to the Linear Quadratic Gaussian (LQG) control problem and prove that the separation principle holds. Simulations demonstrate the improved performance of this optimal controller compared to other sequence-based approaches.

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Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Forschungsbericht/Preprint
Publikationsdatum 13.11.2012
Sprache Englisch
Identifikator KITopen-ID: 1000120268
Umfang 16 S.
Nachgewiesen in arXiv
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