LQG Control for MIMO Systems Over Multiple Erasure Channels With Perfect Acknowledgment
LQG Control for MIMO Systems Over Multiple Erasure Channels With Perfect Acknowledgment
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DOI：
10.1109/tac.2011.2167789
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发表时间：
2012-02
影响因子：
6.8
通讯作者：
E. Garone;B. Sinopoli;A. Goldsmith;A. Casavola
中科院分区：
文献类型：
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作者：
E. Garone;B. Sinopoli;A. Goldsmith;A. Casavola
本技术说明涉及有损数据网络上的控制应用。传感器数据通过网络传输到估计控制单元，并且控制命令通过同一网络发送到子系统。根据伯努利过程，传感器和控制分组可能随机丢失。在这种情况下，离散时间线性二次高斯（LQG）最优控制问题被认为是。在Schenato中，针对传感器测量和控制输入被分别传递到估计器和致动器的单个数据包的情况进行了完整的分析。在这里，一个非平凡的推广MIMO系统的假设下，每个传感器和每个执行器交换数据与控制单元在一个独立的方式，通过使用自己的数据包（无聚合）。在这样一个框架中，它示出的分离原则仍然成立的情况下，包到达由接收器确认。此外，最优LQG控制是一个线性函数的状态，明确地依赖于致动器通道的损失概率。这种依赖性在均方考虑的单通道情况下不存在。在无限时域的情况下，数据包到达概率的稳定性条件提供的线性矩阵不等式（LMI）。
This technical note concerns control applications over lossy data networks. 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 Schenato , a complete analysis was carried out for the case that sensor measurements and control inputs are delivered into a single packet to the estimator and to the actuators respectively. Here, a nontrivial generalization for MIMO systems is presented under the assumption that each sensor and each actuator exchange data with the control unit in an independent way by using their own data packet (no aggregation). In such a framework, it is shown that the separation principle still holds in the case where packet arrivals are acknowledged by the receiver. Moreover, the optimal LQG control is a linear function of the state that explicitly depends on the loss probabilities of the actuator channels. Such a dependence is not present in the single channel case considered in mean-square. In the infinite horizon case, stability conditions on the packet arrival probabilities are provided in terms of linear matrix inequalities (LMIs).