Optimal control for networked control systems with multiple delays and packet dropouts

被引：2
|
作者：
Lu, Xiao [1 ]
Zhang, Qiyan [1 ]
Liang, Xiao [1 ]
Wang, Haixia [1 ]
Sheng, Chunyang [1 ]
Zhang, Zhiguo [1 ]
机构：
[1] Shandong Univ Sci & Technol, Qingdao 266590, Peoples R China
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2020年 / 17卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Networked control systems; LQG optimal control; multiple delays; packet dropouts; LINEAR-QUADRATIC REGULATION; LQG CONTROL;
D O I：
10.1177/1729881420913765
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This article focuses on the problem of optimal linear quadratic Gaussian control for networked control systems with multiple delays and packet dropouts. The main contributions are twofold. Firstly, based on the introduced maximum principle for linear quadratic Gaussian system with multiple input delays and packet dropouts, a nonhomogeneous relationship between the state and costate is obtained, which is the key technical tool to solve the problem. Secondly, a necessary and sufficient condition for the optimal networked control problem is given in virtue of the coupled Riccati equations, and the explicit expression of the optimal controller is presented. Numerical examples are shown to illustrate the proposed algorithm.
引用
收藏
页数：8
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