Distributed Networked Control System with Lossy Links: State Estimation and Stabilizing Communication ControlSonghwai Oh and Shankar SastryThis paper introduces a distributed networked control system (DNCS) consisting of multiple agents communicating over a lossy communication channel, e.g., wireless channel. Two aspects of DNCSs are studied in this paper -- state estimation and stabilizing communication control. Based on the Kalman filter, optimal linear filtering algorithms are derived for the discrete-time linear dynamic models of the DNCS with lossy links. Then, the problem of finding a communication control which stabilizes a DNCS is considered. The stabilizing communication control problem seeks the acceptable ranges of packet loss rates at which the overall system is stable. Efficient algorithms based on convex optimization are developed for solving the stabilizing communication control problem.IEEE International Conference on Decision and Control (CDC), San Diego, CA, Dec. 2006 Full Text (PDF) |
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