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Data Transmission Over Networks for Estimation and Control

Gupta, Vijay and Dana, Amir F. and Hespanha, Joao P. and Murray, Richard M. and Hassibi, Babak (2009) Data Transmission Over Networks for Estimation and Control. IEEE Transactions on Automatic Control, 54 (8). pp. 1807-1819. ISSN 0018-9286.

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We consider the problem of controlling a linear time invariant process when the controller is located at a location remote from where the sensor measurements are being generated. The communication from the sensor to the controller is supported by a communication network with arbitrary topology composed of analog erasure channels. Using a separation principle, we prove that the optimal linear-quadratic-Gaussian (LQG) controller consists of an LQ optimal regulator along with an estimator that estimates the state of the process across the communication network. We then determine the optimal information processing strategy that should be followed by each node in the network so that the estimator is able to compute the best possible estimate in the minimum mean squared error sense. The algorithm is optimal for any packet-dropping process and at every time step, even though it is recursive and hence requires a constant amount of memory, processing and transmission at every node in the network per time step. For the case when the packet drop processes are memoryless and independent across links, we analyze the stability properties and the performance of the closed loop system. The algorithm is an attempt to escape the viewpoint of treating a network of communication links as a single end-to-end link with the probability of successful transmission determined by some measure of the reliability of the network.

Item Type:Article
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URLURL TypeDescription
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2009 IEEE. Manuscript received September 01, 2008; revised November 05, 2008. Current version published August 05, 2009. This work was supported in part under the ARO Grant DAAD19-03-D-0004 and the NSF Grant CCR-0311084. Recommended by Associate Editor C. T. Abdallah.
Funding AgencyGrant Number
Army Research Office (ARO)DAAD19-03-D-0004
Subject Keywords:Analog erasure channels, control across communication channels, linear-quadratic-Gaussian (LQG), networked control, sensor networks
Issue or Number:8
Record Number:CaltechAUTHORS:20090826-112853239
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Official Citation:Gupta, V.; Dana, A.F.; Hespanha, J.P.; Murray, R.M.; Hassibi, B., "Data Transmission Over Networks for Estimation and Control," Automatic Control, IEEE Transactions on , vol.54, no.8, pp.1807-1819, Aug. 2009 URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:15328
Deposited By: George Porter
Deposited On:09 Sep 2009 16:39
Last Modified:03 Oct 2019 00:56

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