Switching data-processing methods for feedback control: Breaking the speed versus accuracy trade-off

Switched LQG control for linear systems with multiple sensing methods

“…Building upon these preliminary works, in this paper, we extend these results leading to a general modeling and control approach that simultaneously addresses the interplay between delay, measurement accuracy and probability of data acquisition. We recover the results of van Horssen et al (2015van Horssen et al ( , 2016 as special cases. To broaden the applicability of the methods, we extend the results to the general case of output feedback with partial information, for which we provide solutions based on both Luenberger-type observers and time-varying Kalman filters.…”

“…We propose a switching method that can circumvent the tradeoff between characteristics for an important general setup with deterministic delays. Results for many cases, such as those in our preliminary works (van Horssen et al, 2015;van Horssen, Antunes, & Heemels, 2016), can be recovered from the results for this general setup. As a secondary result, we show how a case with stochastic delays can be addressed using the result for deterministic delays by a deadline-driven approach.…”

“…Typically, for a given https://doi.org/10.1016/j.automatica.2019.01.036 0005-1098/© 2019 Elsevier Ltd. All rights reserved. (van Horssen et al, 2015). data-processing unit, there is a trade-off between the sensing characteristics (Chakraborty et al, 2016;Corke, 2011).…”

“…In our preliminary works van Horssen et al (2015Horssen et al ( , 2016, the trade-offs between delay and measurement accuracy, and between delay and probability of data acquisition were investigated in isolation, respectively, under the assumptions that measurements of the full state are available and that the delays are deterministic. Building upon these preliminary works, in this paper, we extend these results leading to a general modeling and control approach that simultaneously addresses the interplay between delay, measurement accuracy and probability of data acquisition.…”

“…Furthermore, we allow the delays in the loop to become stochastic, which was not the case in preliminary works, and apply the ideas our recently proposed self-triggered deadline-driven implementation (Prakash, van Horssen, Antunes, & Heemels, 2017) with additional optimization opportunities. Moreover, full details on the derivation of the results are given, which are not available in van Horssen et al (2015van Horssen et al ( , 2016.…”