Receding Horizon Networked Control
نویسندگان
چکیده
This paper deals with the design of control systems over lossy networks. A network is assumed to exist between the sensor and the controller and between the latter and the actuator. Packets are dropped according to a Bernoulli independent process, with γ and μ being the probabilities of losing an observation packet and a control packet respectively, at time any instant t. A receding horizon control scheme is proposed for the Linear Quadratic Control (LQG) problem. At each instant N future control inputs are sent in addition to the current one. Under this scheme the separation of estimation and control is shown and stability conditions, dependent on loss probabilities, are provided. Simulations show how the overall performance, in terms of lower cost, increases with the length of the horizon.
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