Infinite-horizon sequence-based networked control without acknowledgments
Infinite-horizon sequence-based networked control without acknowledgments
复制标题
无限范围基于序列的网络控制，无需确认
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
U. Hanebeck
中科院分区：
文献类型：
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作者：
Maxim Dolgov;J. Fischer;U. Hanebeck
在本文中，我们考虑了无限时域网络LQG控制多用途网络，不提供约束（UDP类网络）。在网络上传递的信息会经历传输延迟和损失，这些延迟和损失被建模为随机过程。为了减轻延迟和在执行器通道中的损失，控制器除了发送当前控制输入之外还发送预测控制输入的序列。为了能够减少反馈信道中的延迟和损耗的影响，估计器使用最后M个测量来计算估计。在这种情况下，分离原理不成立，最优控制律一般是非线性的。然而，我们表明，通过限制控制器和估计器的线性系统具有恒定的增益，我们可以找到最优解。所提出的控制律的数值例子证明。
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 network 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 reduce the impact of delays and losses in the feedback channel, the estimator computes the estimate using the M last measurements. In this scenario, the separation principle does not hold and the optimal control law is in general nonlinear. However, we show that by restricting the controller and the estimator to linear systems with constant gains, we can find the optimal solution. The presented control law is demonstrated in a numerical example.