Coordinated Motion Control of Autonomous and Semiautonomous Mobile Agents

This paper investigates quantized feedback control problems for network empowerment ammunition, where the sensors and the controller are connected by a digital communication network with data-rate limitations. Different from the existing ones, a new bit-allocation algorithm on the basis of the singular values of the plant matrix is proposed to encode the plant states. A lower bound on the data rate is presented to ensure stabilization of the unstable plant. It is shown in our results that, the algorithm can be employed for the more general case. An illustrative example is given to demonstrate the effectiveness of the proposed algorithm.Keywords: network empowerment ammunition, bit-allocation algorithms, data-rate limitations, quantized control, feedback stabilization Copyright c 2014 Universitas Ahmad Dahlan. All rights reserved. IntroductionNetworked control systems have attracted great interests in recent years [1][2][3]. In this paper, we study quantized feedback control problems for network empowerment ammunition with limited information about the plant states. This problem arises when the state measurements are to be transmitted to the controller via a limited capacity communication channel.Issues of the type discussed are motivated by several pieces of work in the recent literature. The research on the interplay among coding, estimation, and control was initiated by [4]. A high-water mark in the study of quantized feedback using data rate limited feedback channels is known as the data rate theorem that states the larger the magnitude of the unstable poles, the larger the required data rate through the feedback loop. The intuitively appealing result was proved [5][6][7][8], indicating that it quantifies a fundamental relationship between unstable physical systems and the rate at which information must be processed in order to stably control them. When the feedback channel capacity is near the data rate limit, control designs typically exhibit chaotic instabilities. This result was generalized to different notions of stabilization and system models, and was also extended to multi-dimensional systems [9][10][11][12]. Liu and Yang investigated quantized control problems for linear time-invariant systems over a noiseless communication network [13]. Furthermore, Liu addressed coordinated motion control of autonomous and semiautonomous mobile agents in [14], and derived the condition on stabilization of unmanned air vehicles over wireless communication channels in [15].For the multi-state case, one needs to present an optimal bit-allocation algorithm to regulate the transmission of information about each mode such that stabilization can be guaranteed for all modes. In the literature, the bit-allocation algorithms were on the basis of the eigenvalues of

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confidence: 99%

Quantized Feedback Control of Network Empowerment Ammunition with Data-Rate Limitations

et al. 2014

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“…You and Xie investigated the minimum data rate for mean square stabilization of linear systems over a lossy digital channel, where the packet dropout process is modeled as a Markov chain [15]. Furthermore, Liu addressed coordinated motion control of autonomous and semiautonomous mobile agents in [16], and derived the condition on stabilization of unmanned air vehicles over wireless communication channels in [17]. The survey papers [18] gave a historical and technical account of the various formulations.…”

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confidence: 99%

Networked Control Over Noisy Channel With Time Delays

Liu¹,

Jin²

2014

TELKOMNIKA

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This paper investigates networked control problems for linear control systems, where the sensors and the controller are connected by a bandwidth-limited, noisy digital communication channel with time delays. For this case, we examine the role communication has on quantized feedback stabilization problems, present quantization, coding, and control schemes, and derive a sufficient condition on the data rate of stabilization of the unstable plant. It is shown in our results that, communication constraints have important effects on stabilization of networked control systems. An illustrative example is given to demonstrate the effectiveness of the proposed method.

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“…Liu and Yang investigated quantized control problems for linear time-invariant systems over a noiseless communication network [13]. Furthermore, Liu addressed coordinated motion control of autonomous and semiautonomous mobile agents in [14], and derived the condition on stabilization of unmanned air vehicles over wireless communication channels in [15].For the multi-state case, one needs to present an optimal bit-allocation algorithm to regulate the transmission of information about each mode such that stabilization can be guaranteed for all modes. In the literature, the bit-allocation algorithms were on the basis of the eigenvalues of…”

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confidence: 99%