Mostofi, Yasamin and Murray, Richard M. (2009) To Drop or Not to Drop: Design Principles for Kalman Filtering Over Wireless Fading Channels. IEEE Transactions on Automatic Control, 54 (2). pp. 376-381. ISSN 0018-9286. doi:10.1109/TAC.2008.2008331. https://resolver.caltech.edu/CaltechAUTHORS:20090416-092107354
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Abstract
It is the general assumption that in estimation and control over wireless links, the receiver should drop any erroneous packets. While this approach is appropriate for non real-time data-network applications, it can result in instability and loss of performance in networked control systems. In this technical note we consider estimation of a multiple-input multiple-output dynamical system over a mobile fading communication channel using a Kalman filter. We show that the communication protocols suitable for other already-existing applications like data networks may not be entirely applicable for estimation and control of a rapidly changing dynamical system. We then develop new design paradigms in terms of handling noisy packets for such delay-sensitive applications. We reformulate the estimation problem to include the impact of stochastic communication noise in the erroneous packets. We prove that, in the absence of a permanent cross-layer information path, packet drop should be designed to balance information loss and communication noise in order to optimize the performance.
Item Type: | Article | |||||||||
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Additional Information: | © 2009 IEEE. Manuscript received August 24, 2006; revised September 26, 2007 and May 20, 2008. Current version published February 11, 2009. This technical note wasvpresented in part at ACC’07. Recommended by Associate Editor S. Dey. | |||||||||
Subject Keywords: | estimation over wireless links; fading channels; networked control systems | |||||||||
Issue or Number: | 2 | |||||||||
DOI: | 10.1109/TAC.2008.2008331 | |||||||||
Record Number: | CaltechAUTHORS:20090416-092107354 | |||||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20090416-092107354 | |||||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
ID Code: | 13993 | |||||||||
Collection: | CaltechAUTHORS | |||||||||
Deposited By: | Tony Diaz | |||||||||
Deposited On: | 06 Aug 2009 21:20 | |||||||||
Last Modified: | 08 Nov 2021 22:42 |
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