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Optimal LQG Control Across a PacketDropping 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 packetdropping link. We extend the
familiar LQG separation principle to this problem that allows us to solve this problem using a standard
LQR statefeedback 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  gshm04scl + 
Title  Optimal LQG Control Across a PacketDropping Link + 
Type  Journal Submission + 
Categories  Papers 
Modification date This property is a special property in this wiki.

15 May 2016 06:18:15 + 
URL This property is a special property in this wiki.

http://www.cds.caltech.edu/~murray/preprints/gshm05scl.pdf + 
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Optimal LQG Control Across a PacketDropping Link +  Title 
