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2021-09-23T09:41:58+00:00
Optimal LQG Control Across a Packet-Dropping Link
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We examine optimal Linear Quadratic Gaussian control for a system in which communication between
the sensor (output of the plant) and the controller occurs across a packet-dropping link. We extend the
familiar LQG separation principle to this problem 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. 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 an 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.
Vijay Gupta, Demetri Spanos, Babak Hassibi, Richard M Murray
2004o
Submitted, <i>Systems and Control Letters</i>
gshm04-scl
Journal Submission
2016-05-15T06:18:15Z
2457523.7626736
Optimal LQG Control Across a Packet-Dropping Link
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