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On trajectory tracking of control-affine nonlinear systems with unreliable communication

机译：关于控制仿射非线性系统的轨迹跟踪，不可靠通信

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We consider the problem of trajectory tracking for a control-affine nonlinear system, where the reference trajectory is given by a nonlinear dynamical system that accepts a time-varying exogenous input from an external agent through a communication channel. Owing to communication distortions, real-time information of the input signal is seldom available at the controller end. This necessitates appropriate design of the sending interval (the difference between time instants at which data packets are sent) for the external agent, and suitable update laws for the controller. We assume the availability of a control law, that achieves the desired trajectory tracking when the input signal is available in real-time, and outline some design guidelines such that the same control law can ensure boundedness of the tracking error even when the input signal is subjected to packet drops. In particular, we consider an appropriate model for the packet-drop probability of the channel and derive an upper bound on the sending interval. We also highlight the required conditions for update of the control signal. The idea is illustrated through numerical simulations conducted on a nonlinear model for cruise control with vehicle-to-vehicle communication.
机译：我们考虑对控制仿射非线性系统的轨迹跟踪的问题，其中参考轨迹由非线性动力系统给出，该系统通过通信信道接受从外部代理的时变外输入。由于通信扭曲，输入信号的实时信息很少可在控制器端可用。这需要适当的发送间隔设计（数据包的时间瞬间之间的差异）为外部代理，以及控制器的合适更新规则。我们假设控制法的可用性，当输入信号实时可用时实现所需的轨迹跟踪，并概述了一些设计指南，使得同一控制法可以确保当输入信号是时，即使输入信号也可以确保跟踪误差的界限经过包滴。特别是，我们考虑一个适当的模型，用于信道的分组丢失概率，并导出发送间隔的上限。我们还突出显示了更新控制信号所需的条件。通过对车载通信的巡航控制的非线性模型进行的数值模拟来说明该想法。

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