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Optimal LQG control across packet-dropping links

Gupta, Vijay and Hassibi, Babak and Murray, Richard M. (2007) Optimal LQG control across packet-dropping links. Systems & Control Letters, 56 (6). pp. 439-446. ISSN 0167-6911. https://resolver.caltech.edu/CaltechAUTHORS:20150205-075834386

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Abstract

We examine two special cases of the problem of optimal linear quadratic Gaussian control of a system whose state is being measured by sensors that communicate with the controller over packet-dropping links. We pose the problem as an information transmission problem. Using a separation principle, we decompose the problem into a standard LQR state-feedback controller design, along with an optimal encoder–decoder design for propagating and using the information across the unreliable links. Our design is optimal among all causal algorithms for any 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.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1016/j.sysconle.2006.11.003DOIArticle
http://www.sciencedirect.com/science/article/pii/S0167691106002155PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2006 Elsevier. Received 16 June 2005; received in revised form 25 April 2006; accepted 18 November 2006 Available online 16 January 2007.
Subject Keywords:LQG control; Networked control systems; Packet-dropping links; Separation principle; Sensor fusion
Issue or Number:6
Record Number:CaltechAUTHORS:20150205-075834386
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20150205-075834386
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:54405
Collection:CaltechAUTHORS
Deposited By: Shirley Slattery
Deposited On:09 Feb 2015 18:29
Last Modified:03 Oct 2019 07:57

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