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Optimal LQG Control Across a Packet-Dropping Link
Abstract We examine optimal Linear Quadratic Gaussi …
We examine optimal Linear Quadratic Gaussian control for a system in which communication between the sensor (output of the plant) and the controller occurs across a packet-dropping link. We extend the familiar LQG separation principle to this problem 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. 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 an 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.
ication of an existing LQG control design.  +
Authors Vijay Gupta, Demetri Spanos, Babak Hassibi, Richard M Murray  +
ID 2004o  +
Source Submitted, <i>Systems and Control Letters</i>  +
Tag gshm04-scl  +
Title Optimal LQG Control Across a Packet-Dropping Link +
Type Journal Submission  +
Categories Papers
Modification date
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15 May 2016 06:18:15  +
URL
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http://www.cds.caltech.edu/~murray/preprints/gshm05-scl.pdf  +
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Optimal LQG Control Across a Packet-Dropping Link + Title
 

 

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