EECI08: Packet-Based Estimation and Control - Revision history

Murray: EECI: Packet-Based Estimation and Control moved to EECI08: Packet-Based Estimation and Control

2009-03-01T20:16:36Z

EECI: Packet-Based Estimation and Control moved to EECI08: Packet-Based Estimation and Control

← Older revision		Revision as of 20:16, 1 March 2009
(No difference)

Murray at 23:52, 30 March 2008

2008-03-30T23:52:05Z

← Older revision		Revision as of 23:52, 30 March 2008
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	== Lecture Materials ==		== Lecture Materials ==
	* Lecture notes: {{eeci-sp08 pdf\|L7_pbc-~~notes~~.pdf\|Packet-Based Estimation and Control}} (scan of handwritten notes)		* Lecture notes: {{eeci-sp08 pdf\|L7_pbc-scan.pdf\|Packet-Based Estimation and Control}} (scan of handwritten notes)
	* Lecture slides: {{eeci-sp08 pdf\|L7_pbc.pdf\|Packet-Based Estimation and Control}} (contains a few examples + graphs)		* Lecture slides: {{eeci-sp08 pdf\|L7_pbc.pdf\|Packet-Based Estimation and Control}} (contains a few examples + graphs)

Murray: /* Lecture Materials */

2008-03-30T23:49:58Z

Lecture Materials

← Older revision		Revision as of 23:49, 30 March 2008
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	== Lecture Materials ==		== Lecture Materials ==
	* Lecture slides: {{eeci-sp08 pdf\|L7_pbc.pdf\|Packet-Based Estimation and Control}}		* Lecture notes: {{eeci-sp08 pdf\|L7_pbc-notes.pdf\|Packet-Based Estimation and Control}} (scan of handwritten notes)
			* Lecture slides: {{eeci-sp08 pdf\|L7_pbc.pdf\|Packet-Based Estimation and Control}} (contains a few examples + graphs)

	== Reading ==		== Reading ==

Murray: /* Lecture Materials */

2008-03-29T01:02:57Z

Lecture Materials

← Older revision		Revision as of 01:02, 29 March 2008
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	== Lecture Materials ==		== Lecture Materials ==
	* Lecture slides: {{eeci-sp08 pdf\|L7_pbc.pdf\|Packet-Based Estimation and Control}}		* Lecture slides: {{eeci-sp08 pdf\|L7_pbc.pdf\|Packet-Based Estimation and Control}}
	* Lecture notes: {{ncsbook\|fusion\|Chapter 5 - Packet-Based Estimation and Control}}

	== Reading ==		== Reading ==

Murray at 01:02, 29 March 2008

2008-03-29T01:02:43Z

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 This lecture describes how to extend results in estimation and control to the case where the information between sensing, actuation and computation flows across a network with possible packet loss and time delay.  We begin with the estimation problem, summarizing the results on Sinopoli et al on Kalman filtering with intermittent data, which uses average convergence as a stability metric.  An alternative formulation is to use almost sure convergence, which gives improved results for lossy networks.  Finally, we extend the results on estimation to the control setting, summarizing approaches in the cases where receipt of packets are acknowledge (TCP-like) or not acknowledged (UDP-like).
-{| width=100% border=1
+==  Lecture Materials ==
 * Lecture slides: {{eeci-sp08 pdf|L7_pbc.pdf|Packet-Based Estimation and Control}}
 * Lecture notes: {{ncsbook|fusion|Chapter 5 - Packet-Based Estimation and Control}}
-====  Additional Information ====
+== Reading ==
 * <p>[http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=29437 Kalman Filtering with Intermittent Observations], B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. Jordan and S. Sastry. ''IEEE T. Automatic Control'', 2004.  This is the paper that covers the main results of this lecture.</p>
 * <p>[ftp://ftp.cds.caltech.edu/murray/preprints/estm07-automatica_s.pdf Probabilistic Performance of State Estimation Across a Lossy Network].  Michael Epstein, Ling Shi, Abhishek Tiwari and Richard M. Murray.  ''Automatica'',  2008 (to appear).  This article describes how to computer probabilistic guarantees on estimator performance in the presence of packet loss.</p>

Murray at 00:57, 29 March 2008

2008-03-29T00:57:27Z

← Older revision		Revision as of 00:57, 29 March 2008
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	{{eeci-sp08 header\|next=[[EECI: Information Flow and Consensus\|Graph Theory]]\|prev=[[~~NCS~~: State Estimation and Sensor Fusion\|State Estimation]]}}		{{eeci-sp08 header\|next=[[EECI: Information Flow and Consensus\|Graph Theory]]\|prev=[[EECI: State Estimation and Sensor Fusion\|State Estimation]]}}

	{{righttoc}}		{{righttoc}}

Murray: /* Outline */

2008-03-29T00:35:59Z

Outline

← Older revision		Revision as of 00:35, 29 March 2008
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	* Mathematical preliminaries (Jensen's inequality)		* Mathematical preliminaries (Jensen's inequality)
	* Main results: upper and lower bounds		* Main results: upper and lower bounds
	<li>~~Almost-sure~~ state estimation with packet drops</li>		<li>Probabalistic state estimation with packet drops</li>
	* ~~Almost sure stability~~ versus ~~average stability~~		* Probabalistic bounds versus expected value (example)
	* Performance versus data loss tradeoff		* Performance versus data loss tradeoff
	<li>Packet-based control</li>		<li>Packet-based control</li>
	* TCP-like networks		* TCP-like networks
	* UDP-like networks		* UDP-like networks
	~~<li> Variable time-delays (if time)~~
	</ol>		</ol>
	\| width=50% \|		\| width=50% \|

Murray: /* Further Reading */

2008-03-29T00:34:40Z

Further Reading

← Older revision		Revision as of 00:34, 29 March 2008
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	==== Further Reading ====		==== Further Reading ====
	* <p>[http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=29437 Kalman Filtering with Intermittent Observations], B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. Jordan and S. Sastry. ''IEEE T. Automatic Control'', 2004. This is the paper that covers the main results of this lecture.</p>		* <p>[http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=29437 Kalman Filtering with Intermittent Observations], B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. Jordan and S. Sastry. ''IEEE T. Automatic Control'', 2004. This is the paper that covers the main results of this lecture.</p>

			* <p>[ftp://ftp.cds.caltech.edu/murray/preprints/estm07-automatica_s.pdf Probabilistic Performance of State Estimation Across a Lossy Network]. Michael Epstein, Ling Shi, Abhishek Tiwari and Richard M. Murray. ''Automatica'', 2008 (to appear). This article describes how to computer probabilistic guarantees on estimator performance in the presence of packet loss.</p>

Murray: /* Further Reading */

2008-03-29T00:27:18Z

Murray: /* Lecture Materials */

2008-03-28T15:55:53Z

Lecture Materials

← Older revision		Revision as of 15:55, 28 March 2008
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	==== Lecture Materials ====		==== Lecture Materials ====
	* Lecture slides: {{eeci-sp08 pdf\|~~L6_pbc~~.pdf\|Packet-Based Estimation and Control}}		* Lecture slides: {{eeci-sp08 pdf\|L7_pbc.pdf\|Packet-Based Estimation and Control}}
	* Lecture notes: {{ncsbook\|fusion\|Chapter 5 - Packet-Based Estimation and Control}}		* Lecture notes: {{ncsbook\|fusion\|Chapter 5 - Packet-Based Estimation and Control}}

← Older revision		Revision as of 00:27, 29 March 2008
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	==== Further Reading ====		==== Further Reading ====
			* <p>[http://ieeexplore.ieee.org/xpl/tocresult.jsp?isnumber=29437 Kalman Filtering with Intermittent Observations], B. Sinopoli, L. Schenato, M. Franceschetti, K. Poolla, M. Jordan and S. Sastry. ''IEEE T. Automatic Control'', 2004. This is the paper that covers the main results of this lecture.</p>