-- Vijay
Gupta, Babak Hassibi and Richard M. Murray, System
and Control Letters, Accepted June 2006, In Press.
We examine two special cases of the problem of optimal Linear Quadratic
Gaussian control of a system whose state is being measured by sensors
that communicate with the controller over packet-dropping links. We
extend the LQG separation principle using a standard LQR state-feedback
design, along with an optimal algorithm for propagating and using the
information across the unreliable link. Our design is 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.
journal submission
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