Anytime Control Under Practical Communication Models
نویسندگان
چکیده
In this article, we investigate a novel anytime control algorithm for wireless networked with random dropouts. The controller computes sequences of tentative future commands using time-varying (Markovian) computational resources. sensor–controller and controller–actuator channel states are spatial- time-correlated, respectively, modeled as multistate Markov process. To compensate the effect packet dropouts, dual-buffer mechanism is proposed. We develop cycle-cost-based approach to obtain stability conditions on nonlinear plant, controller, network,
منابع مشابه
Practical Anytime Codes
The demand of an increasingly networked world is well reflected in modern industrial control systems where communication between the different components of the system is more and more taking place over a network. With an increasing number of components communicating and with hardware devices of low complexity, the communication resources available per communication link are however very limite...
متن کاملAnytime Sensing Planning and Action: A Practical Model for Robot Control
Anytime algorithms, whose quality of results improves gradually as computation time increases, provide useful performance components for timecritical planning and control of robotic systems. In earlier work, we introduced a compilation scheme for optimal composition of anytime algorithms. In this paper we present an implementation of a navigation system in which an off-line compilation process ...
متن کاملFormation flight control under communication failure
This paper presents the management of UAV formation flight with respect to varying levels of communication among UAVs. Inter-vehicle communication in the formation is a critical issue because each UAV needs the information on other vehicles for formation. However, since communication is not perfect in reality, the formation performance under communication failure has to be analyzed. This study ...
متن کاملEstimation and Control under Communication Network Constraints
......................................................................................................................i Acknowledgements............................................................................................. ii List of Figures .........................................................................................................v List of Tables .............................
متن کاملControl of LQG Systems Under Communication Constraints
We consider the control performance of an LQG system with a noisy analog feedback channel between the state-observation and the controller. To bound the performance, we use the sequential rate distortion function and the assumption of equi-memory. We then discuss the tradeoffs between control and communication costs and how to relax the equi-memory assumption.
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2022
ISSN: ['0018-9286', '1558-2523', '2334-3303']
DOI: https://doi.org/10.1109/tac.2021.3115422