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Keywords
(13)
Communication Channels
Cost Function
Discrete Time
Distributed Estimation
Erasure Channel
Necessary and Sufficient Condition
Networked Control System
Optimal Design
Output Feedback Control
Sensor Network
Independent and Identically Distributed
Linear Time Invariant
Point To Point
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LQG Control For Distributed Systems Over TCPlike Erasure Channels
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Optimal Output Feedback Control Using Two Remote Sensors Over Erasure Channels
Optimal Output Feedback Control Using Two Remote Sensors Over Erasure Channels,10.1109/TAC.2009.2022092,IEEE Transactions on Automatic Control,Vijay G
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Optimal Output Feedback Control Using Two Remote Sensors Over Erasure Channels
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Citations: 13
)
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Vijay Gupta
,
Nuno C. Martins
,
John S. Baras
Consider a discretetime, linear timeinvariant process, two sensors and one controller. The process state is observed in the presence of noise by the sensors, which are connected to the controller via links that feature erasure. If a link transmits successfully then a finitedimensional vector of real numbers is conveyed from the sensor to the controller. If an erasure event occurs, then any information conveyed over the link is lost. This paper addresses the problem of designing the maps that specify the processing at the controller and at the sensors to minimize a quadratic cost function. When the information is lost over the links either in an
independent and identically distributed
(i.i.d.) or in a (timehomogeneous) Markovian fashion, we derive necessary and sufficient conditions for the existence of maps such that the process is stabilized in the bounded second moment sense. We also solve the
optimal design
problem in the presence of delayed noiseless acknowledgment signals at the sensors from the controller for an arbitrary packet drop pattern. We provide explicit recursive schemes to implement our solution. We also indicate how our approach can be extended to situations when more than two sensors are available and when the sensors can cooperate. The analysis also carries over to the case when each pointtopoint erasure link connecting the sensors and the controller is replaced by a network of erasure links.
Journal:
IEEE Transactions on Automatic Control  IEEE TRANS AUTOMAT CONTR
, vol. 54, no. 7, pp. 14631476, 2009
DOI:
10.1109/TAC.2009.2022092
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Citation Context
(10)
...Observe that the above works studied the stability of the Kalman filter with packet losses under a single sensor framework, the case of multiple sensors was investigated in [
6
] for both the i.i.d...
...It is interesting to note that our condition recovers the result in [
6
], [9]...
...The probability condition of the channel recovering from packet dropping in (57) reduces to that of [
6
]...
Keyou You
,
et al.
Minimum Data Rate for Mean Square Stabilizability of Linear Systems Wi...
...<{[SECTION]}>[
6
] J.M. Yang, “Corrective control of asynchronous sequential machines...
...Within the one block design framework, various approaches to compensate for the data loss to counteract the degradation in performance (see, e.g., [3], [7], [9], [14], [16], [17]) havealsobeenproposed.Thetwoblockdesignparadigmhasbeenconsidered in works like [4]‐[
6
] for channels between the sensor and the controller, and [8], [11] for channels between the controller and the actuator...
Vijay Gupta
.
On the Effect of Stochastic Delay on Estimation
...Such designs (see, e.g., [8], [12], [13], [
14
]) that have also been considered for systems with digital noiseless links [23] or the additive white Gaussian noise (AWGN) channels [3] explore the possibility of preprocessing information prior to transmission, and transmission of extra data to improve the performance of a networked control system...
...Case studies showing that stabilizability does not depend on availability of acknowledgements were also considered in [
14
]...
Vijay Gupta
,
et al.
On Stability in the Presence of Analog Erasure Channel Between the Con...
...It is interesting to note that our condition recovers the result in [
4
, 6]...
...The probability condition of the channel recovering from packet dropping in (31) reduces to that of [
4
]...
You Keyou
,
et al.
Mean square stabilizability of linear systems with limited feedback da...
...The twoblock design paradigm has also been considered in works like [8], [7], [
10
] for channels between sensor and the controller, and [9], [13], [16] for channels between controller and the actuator...
V. Gupta
,
et al.
On an estimation oriented routing protocol
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Citations
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