-- Vijay
Gupta, Demetri Spanos, Babak Hassibi and Richard M. Murray, Proceedings
of the American Control Conference, 2005 (ACC 05).
Page(s):360 - 365.
In this paper, we consider the problem of optimal Linear Quadratic
Gaussian control of a system in which communication between the sensor
and the controller occurs across a packet-dropping link. We first prove
a separation principle that allows us to solve this problem using a
standard LQR state-feedback design, along with an optimal algorithm for
propagating and using the information across the unreliable link. Then
we present one such optimal algorithm, which consists of a Kalman
filter at the sensor side of the link, and a switched linear filter at
the controller side. Our design does not assume any statistical model
of the packet drop events, and is thus optimal for any arbitrary packet
drop pattern. Further, the solution is appealing from a practical point
of view because it can be implemented as a small modification of an
existing LQG control design.
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