Packetized predictive control for rate-limited networks via sparse representation
Packetized predictive control for rate-limited networks via sparse representation
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DOI：
10.1109/cdc.2012.6426647
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发表时间：
2012-12
期刊：
影响因子：
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通讯作者：
M. Nagahara;D. Quevedo;Jan Østergaard
中科院分区：
文献类型：
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作者：
M. Nagahara;D. Quevedo;Jan Østergaard
我们研究了线性时不变工厂的网络控制架构，其中在控制器和工厂输入之间放置了不可靠的数据速率限制网络。当前情况的显着特征是在控制器和设备输入之间放置了一个不可靠的数据速率受限网络。为了实现针对丢失的鲁棒性，控制器传输包含设备输入预测的数据包，这最小化了有限范围成本函数。在我们的公式中，我们通过采用 ℓ0 优化来为限速网络设计稀疏数据包，这可以通过正交匹配追踪方法有效地解决。我们的公式确保了在存在有限数据包丢失的情况下控制循环的渐近稳定性。仿真结果表明，所提出的控制器提供稀疏控制数据包，从而与使用更常见的二次成本函数（如线性二次（LQ）控制）相比，在无记忆标量编码方案的情况下降低了比特率。
We study a networked control architecture for linear time-invariant plants in which an unreliable data-rate limited network is placed between the controller and the plant input. The distinguishing aspect of the situation at hand is that an unreliable data-rate limited network is placed between controller and the plant input. To achieve robustness with respect to dropouts, the controller transmits data packets containing plant input predictions, which minimize a finite horizon cost function. In our formulation, we design sparse packets for rate-limited networks, by adopting an an ℓ0 optimization, which can be effectively solved by an orthogonal matching pursuit method. Our formulation ensures asymptotic stability of the control loop in the presence of bounded packet dropouts. Simulation results indicate that the proposed controller provides sparse control packets, thereby giving bit-rate reductions for the case of memoryless scalar coding schemes when compared to the use of, more common, quadratic cost functions, as in linear quadratic (LQ) control.