Anticipative and Non-anticipative Controller Design for Network Control Systems

Naghshtabrizi, Payam; Hespanha, João P.

doi:10.1007/11533382_14

Cited by 23 publications

(18 citation statements)

References 16 publications

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“…Each sensor can calculate the terms it transmits using a recursive algorithm of the form outlined in equation (30). …”

Section: Theorem V2 In the Algorithmmentioning

confidence: 99%

“…The benefits incurred become even more apparent when the communication link is replaced by a network of communication links [15]. This effect can also be seen in the recent works on receding horizon networked control, in which a few future control inputs are transmitted at every time step by the controller and buffered at the actuator to be used in case subsequent control updates are dropped by the network and do not arrive at the actuator(s), see, e.g., [12], [13], [23], [29], [30].…”

Section: Introductionmentioning

confidence: 96%

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Optimal Output Feedback Control Using Two Remote Sensors Over Erasure Channels

Gupta

Martins

Baras

2009

IEEE Trans. Automat. Contr.

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ISR develops, applies and teaches advanced methodologies of design and analysis toIf an erasure event occurs, then any information conveyed over the link is lost. This paper addresses the problem of designing the maps that specify the processing at the controller and at the sensors to minimize a quadratic cost function. When the information is lost over the links either in an independent and identically distributed (i.i.d.) or (time-homogeneous) Markovian fashion, we derive necessary and sufficient conditions for the existence of maps such that the plant is stabilized in the bounded second moment sense. We also solve the optimal design problem in the presence of delayed noiseless acknowledgment signals at the sensors from the controller for any arbitrary packet drop pattern. We provide explicit recursive schemes to implement our solution. We also indicate how our approach can be extended to situations when more than two sensors are available, when the sensors can cooperate and when the acknowledgment link features erasure. The analysis also carries over to the case when each point-to-point erasure link connecting the sensors and the controller is replaced by a network of erasure links.

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“…Each sensor can calculate the terms it transmits using a recursive algorithm of the form outlined in equation (30). …”

Section: Theorem V2 In the Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 96%

Optimal Output Feedback Control Using Two Remote Sensors Over Erasure Channels

Gupta

Martins

Baras

2009

IEEE Trans. Automat. Contr.

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“…The above theorem provides a matrix inequality that is linear in the design variables and , but suffers from the fact that the constraint is nonconvex. One appealing approach to deal with this was suggested in [32], [33], where the constraint is approximated with an optimization problem via the following lemma.…”

Section: Stabilizing the Closed-loop Systemmentioning

confidence: 99%

“…For such problems, El Ghaoui et al [32] showed that the nonconvex function can be replaced with a linear approximation for any given matrices and . With this insight, [32], [33] showed that an iterative algorithm can be used to minimize , while ensuring satisfaction of LMI constraints. For our application, the iterative approach proposed in those papers can be formulated as Algorithm 1.…”

Section: Stabilizing the Closed-loop Systemmentioning

confidence: 99%

The Wireless Control Network: A New Approach for Control Over Networks

Pajić

Sundaram

Pappas

et al. 2011

IEEE Trans. Automat. Contr.

149

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Abstract-We present a method to stabilize a plant with a network of resource constrained wireless nodes. As opposed to traditional networked control schemes where the nodes simply route information to and from a dedicated controller (perhaps performing some encoding along the way), our approach treats the network itself as the controller. Specifically, we formulate a strategy for each node in the network to follow, where at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. We show that this causes the entire network to behave as a linear dynamical system, with sparsity constraints imposed by the network topology. We provide a numerical design procedure to determine appropriate linear combinations to be applied by each node so that the transmissions of the nodes closest to the actuators will stabilize the plant. We also show how our design procedure can be modified to maintain mean square stability under packet drops in the network, and present a distributed scheme that can handle node failures while preserving stability. We call this architecture a Wireless Control Network, and show that it introduces very low computational and communication overhead to the nodes in the network, allows the use of simple transmission scheduling algorithms, and enables compositional design (where the existing wireless control infrastructure can be easily extended to handle new plants that are brought online in the vicinity of the network).

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“…This view was taken, e.g., in [10], [9], [12], [5]. This pre-processing strategy can also be seen in the recent results on receding horizon networked control, in which a few future control inputs are transmitted at every time step by the controller and buffered at the actuator to be used in case subsequent control updates are dropped by the network and do not arrive at the actuator(s) [6], [7], [16], [19], [20].…”

Section: Introductionmentioning

confidence: 95%

On stability in the presence of analog erasure channels

Gupta

Martins

2008

2008 47th IEEE Conference on Decision and Control

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Abstract-Consider a discrete-time networked control scheme, in which the controller has direct access to noisy measurements of the plant's output, but the controller and the actuator are connected via a link that features Bernoulli erasure events. We determine necessary and sufficient conditions for the stabilizability of an unstable linear and time-invariant plant. We show that these conditions are identical for two types of actuators:• (Type I) Processing at the actuator has access to the plant's model; • (Type II) Processing at the actuator uses a universal algorithm that does not depend on the model of the plant. We also identify cases where availability of acknowledgements over the controller-actuator channel is not required for stability. We also consider decentralized networked control structures, where two or more independent controller-linkactuator assemblies have access to different measurements of the plant's output.

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Anticipative and Non-anticipative Controller Design for Network Control Systems

Cited by 23 publications

References 16 publications

Optimal Output Feedback Control Using Two Remote Sensors Over Erasure Channels

Optimal Output Feedback Control Using Two Remote Sensors Over Erasure Channels

The Wireless Control Network: A New Approach for Control Over Networks

On stability in the presence of analog erasure channels

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