View source for On LQG Control Across a Stochastic Packet-Dropping Link

{{HTDB paper
| authors = Vijay Gupta, Demetri Spanos, Babak Hassibi, Richard M. Murray
| title = On LQG Control Across a Stochastic Packet-Dropping Link
| source = Submitted, 2005 American Control Conference (ACC)
| year = 2004
| type = Conference Paper
| funding = AFOSR/info2
| url = http://www.cds.caltech.edu/~murray/preprints/gshm05-acc.pdf
| abstract = 
AbstractIn this paper, we consider the problem of
optimal Linear Quadratic Gaussian control of a system
in which communication between the sensor and the
controller occurs across a packet-dropping link. We first
prove a separation principle 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. Then 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 any 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.
| flags = 
| tag = gshm05-acc
| id = 2004p
}}