Towards Robust Control Over a Packet Dropping Network

Ling Shi, Michael Epstein, Richard M. Murray
Submitted, 2006 International Symposium on Mathematical Theory of Networks and Systems (MTNS)

In this paper, we consider a robust network control problem. We consider linear unstable and uncertain discrete time plants with a network between the sensor and controller and the controller and plant. We investigate the effect of data drop out in the form of packet losses. Four distinct control schemes are explored and sufficient conditions to ensure almost sure stability of the closed loop system are derived for each of them in terms of minimum packet arrival rate and the maximum uncertainty.

• Conference Paper: http://www.cds.caltech.edu/~murray/preprints/sem06-mtns.pdf
• Project(s): Template:HTDB funding::NSF/ITR, Template:HTDB funding::AFOSR/info