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Optimal Estimation and Control for Lossy Network: Stability, Convergence, and Performance

机译：有损网络的最佳估计和控制：稳定性，收敛性和性能

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摘要

In this paper, we study the problems of optimal estimation and control, i.e., the linear quadratic Gaussian (LQG) control, for systems with packet losses but without acknowledgment. Such acknowledgment is a signal sent by the actuator to inform the estimator of the incidence of control packet losses. For such system, which is usually called as a user datagram protocol (UDP)-like system, the optimal estimation is nonlinear and its calculation is time-consuming, making its corresponding optimal LQG problem complicated. We first propose two conditions: 1) the sensor has some computation abilities; and 2) the control command, exerted to the plant, is known to the sensor. For a UDP-like system satisfying these two conditions, we derive the optimal estimation. By constructing the finite and infinite product probability measure spaces for the estimation error covariances (EEC), we give the stability condition for the expected EEC, and show the existence of a measurable function to which the EEC converges in distribution, and propose some practical methods to evaluate the estimation performance. Finally, the LQG controllers are derived, and the conditions for the mean square stability of the closed-loop system are established.
机译：在本文中，我们研究了对于有丢包但没有确认的系统的最佳估计和控制问题，即线性二次高斯（LQG）控制。这种确认是由致动器发送的信号，用于通知估计器控制包丢失的发生率。对于这种通常被称为类用户数据报协议（UDP）的系统，最佳估计是非线性的，其计算很费时，从而使其相应的最佳LQG问题变得复杂。我们首先提出两个条件：1）传感器具有一定的计算能力； 2）传感器知道施加在设备上的控制命令。对于满足这两个条件的类UDP系统，我们得出了最佳估计。通过构造估计误差协方差（EEC）的有限和无限乘积概率测度空间，我们给出了预期EEC的稳定性条件，并证明了EEC在分布中收敛的可测函数的存在，并提出了一些实用的方法评估估计效果。最后，推导了LQG控制器，并建立了闭环系统均方稳定性的条件。

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  • 来源
    《IEEE Transactions on Automatic Control》 |2017年第9期|4564-4579|共16页
  • 作者

    Hong Lin; Hongye Su; Peng Shi; Zhan Shu; Renquan Lu; Zheng-Guang Wu;

  • 作者单位

    Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, Zhejiang, China;

    Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, Zhejiang, China;

    College of Automation, Harbin Engineering University, Harbin, Heilongjiang, China;

    Electro-Mechanical Engineering Group, Faculty of Engineering and the Environment, University of Southampton, Southampton, U.K.;

    School of Automation, Guangdong University of Technology, and Guangdong Key Laboratory of IoT Information Processing, Guangzhou, China;

    Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou, Zhejiang, China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Estimation; Intelligent sensors; Packet loss; Actuators; Convergence; Protocols;

    机译：估计;智能传感器;数据包丢失;执行器;收敛;协议;

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