NDLI: Stochastic LQ control under asymptotic tracking for discrete systems over multiple lossy channels

Content Provider	IET Digital Library
Author	Ling, Rongyao Feng, Yu Claveau, Fabien Chevrel, Philippe
Abstract	This study addresses the asymptotic tracking problem subjected to linear quadratic (LQ) constraints for linear discrete-time systems, where packet dropout occurs in actuating channels. To solve this objective control problem, the controller-coding co-design approach is adopted, i.e. the controller, encoder and decoder are designed for taking full advantage of the network resource collaboratively, thereby achieving better transmission of control signals. A stabilisability condition in the mean square sense that reveals the fundamental limitation among the H 2 norm of the plant, data arrival rates and coding matrices is first derived. Then, a solvability condition is conducted to handle the additional stochastic LQ control objective by a modified discrete-time algebraic Riccati equation, and an iterative algorithm is also given for designing the corresponding state feedback gain and coding matrices. Relied on such design, the asymptotic tracking constraint is further fulfilled through solving a Sylvester equation, and the feedforward gain related to tracking is parameterised. Finally, a simulation with the implementation of the design method on two cooperative robots is included to show the effectiveness of the current results.
Starting Page	3107
Ending Page	3116
Page Count	10
ISSN	17518644
Volume Number	13
e-ISSN	17518652
Issue Number	Issue 18, Dec (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/13/18
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.6234
Journal	IET Control Theory & Applications
Publisher Date	2019-09-05
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Actuating Channel Additional Stochastic LQ Control Objective Algebra Asymptotic Tracking Constraint Asymptotic Tracking Problem Coding Matrices Control Signal Control System Analysis Control System Synthesis Controller-coding Co-design Approach Corresponding State Feedback Gain Data Arrival Rates Decoder Design Method Discrete Control System Discrete System Discrete Time System Encoder Feedforward Fundamental Limitation Interpolation And Function Approximation Iterative Method Linear Discrete-time System Linear Quadratic Constraint Linear Quadratic Control Linear System Matrix Algebra Mean Square Sense Modified Discrete-time Algebraic Riccati Equation Multiple Lossy Channel Network Resource Numerical Analysis Objective Control Problem Optimal Control Optimisation Technique Packet Dropout Riccati Equation Solvability Condition Stabilisability Condition Stability in Control Theory State Feedback Statistics Stochastic System Synthesis Method
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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