View source for An Estimation Algorithm for a Class of Networked Control Systems Using UDP-Like Communication Schemes

{{HTDB paper
| authors = Michael Epstein, Ling Shi, Richard M. Murray
| title = An Estimation Algorithm for a Class of Networked Control Systems Using UDP-Like Communication Schemes
| source = 2006 Conference on Decision and Control
| year = 2006
| type = Conference Paper
| funding = NSF/ITR
| url = http://www.cds.caltech.edu/~murray/preprints/esm06-cdc.pdf
| abstract = 
In this work we consider a class of networked control
systems (NCS) when the control signal is sent to the plant
via a UDP-like communication protocol.	In this case the
controller sends a communication packet to the plant across
a lossy network, but the controller does not receive any
acknowledgement signal indicating the status of the control
packet. Standard observer based estimators assume the
estimator has knowledge of what control signal is applied
to the plant.  Under the UDP-like protocol the
controller/estimator does not have explicit knowledge
whether the control signals have been applied to the plant
or not. We present a simple estimation algorithm that
consists of a state and mode observer as well as a
constraint on the control signal sent to the plant.  For
the class of systems considered, discrete time LTI plants
where at least one
of the states that is directly affected by the input is
also part of the measurement vector, the estimator is able
to recover the fate of the control packet from the
measurement at the next timestep and exhibit better
performance than other naive schemes. For
single-input-single-output (SISO) systems we are able to
show convergence properties of the estimation error and the
state. Simulations are provided to demonstrate the
algorithm and show it's effectiveness.
| flags = 
| tag = esm06-cdc
| id = 2006g
}}