Moving Horizon State Estimation for Networked Control Systems With Multiple Packet Dropouts

Xue, Binqiang; Li, Shaoyuan; Zhu, Quanmin

doi:10.1109/tac.2012.2204835

Cited by 51 publications

(26 citation statements)

References 15 publications

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“…Also the MHE is proven to be a powerful tool to deal with the quantization noise, data loss and time delay introduced in the WCS, e.g. (Rao, et al, 2001;Luo, et al, 2008;Xue, et al, 2012).…”

Section: Moving Horizon Estimator and 1-bit Processingmentioning

confidence: 99%

1-Bit processing based model predictive control for fractionated satellite missions

Bai

2014

Acta Astronautica

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In this thesis, a 1-bit processing based Model Predictive Control (OBMPC) structure is proposed for a fractionated satellite attitude control mission. Despite the appealing advantages of the MPC algorithm towards constrained MIMO control applications, implementing the MPC algorithm onboard a small satellite is certainly challenging due to the limited onboard resources. The proposed design is based on the 1-bit processing concept, which takes advantage of the affine relation between the 1-bit state feedback and multi-bit parameters to implement a multiplier free MPC controller.As multipliers are the major power consumer in online optimization, the OBMPC structure is proven to be more efficient in comparison to the conventional MPC implementation in term of power and circuit complexity. The system is in digital control nature, affected by quantization noise introduced by Δ∑ modulators. The stability issues and practical design criteria are also discussed in this work.Some other aspects are considered in this work to complete the control system. Firstly, the implementation of the OBMPC system relies on the 1-bit state feedbacks. Hence, 1-bit sensing components are needed to implement the OBMPC system. While the ∆∑ modulator based Microelectromechanical systems (MEMS) gyroscope is considered in this work, it is possible to implement this concept into other sensing components.Secondly, as the proposed attitude mission is based on the wireless inter-satellite link (ISL), a state estimator is required. However, conventional state estimators will once again introduce multi-bit signals, and compromise the simple, direct implementation of the OBMPC controller. Therefore, the 1-bit state estimator is also designed in this work to satisfy the requirements of the proposed fractionated attitude control mission.The simulation for the OBMPC is based on a 2U CubeSat model in a fractionated satellite structure, in which the payload and actuators are separated from the controller and controlled via the ISL. Matlab simulations and FPGA implementation based performance analysis shows that the OBMPC is feasible for fractionated satellite missions and is advantageous over the conventional MPC controllers. V VI

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Section: Moving Horizon Estimator and 1-bit Processingmentioning

confidence: 99%

1-Bit processing based model predictive control for fractionated satellite missions

Bai

2014

Acta Astronautica

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“…To save cost and improve localisation accuracy, it is necessary to introduce a Master-Slave cooperative navigation framework in which structure the master UUV is equipped with an acoustic modem and high precision INS, and each slave UUV is equipped with an acoustic modem and low precision INS for Dead-Reckoning Linear Minimum Variance (LMV) filter using the orthogonality principle to deal with the linear packet delay system with stochastic parameters. The method that uses the latest present measurements to replace the current data which did not arrive at the slave UUV site is discussed in Xue et al (2012), in this algorithm, the arrival process of RLI is considered as an independent and Bernoulli distributed white sequence taking values of 0 and 1.…”

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confidence: 99%

Moving Horizon Estimation for Cooperative Localisation with Communication Delay

et al. 2014

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Cooperative Localisation (CL) technology is required in some situations for Multiple Unmanned Underwater Vehicle (MUUVs) missions. During the CL process, the Relative Localisation Information (RLI) of the master UUV is transmitted to slave UUVs via acoustic communication. In the underwater environment, the RLI is subject to a random time delay. Considering the time delay characteristic of the RLI during the acoustic communication, a Moving Horizon Estimation (MHE) method with a Delayed Extended Kalman Filter (DEKF)-based arrival cost update law is presented in this paper to obtain an accurate and reliable estimation of present location. Additionally, an effective computation method for the MHE method is employed, in which the "Lower Upper" (LU) factorization is used to compute the solution of the Karush-Kuhn-Tucker (KKT) system. At the end of this paper, simulation results are presented to prove the superiority and practicality of the proposed MHE algorithm. K E Y WO R D S 1. Multiple Unmanned Underwater Vehicles (MUUVs).

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“…during the last few years [3]- [12]. A Markovian jump process [4]- [6] and a binary switching sequence [7]- [12] are commonly used to model the packet dropout phenomena.…”

mentioning

confidence: 99%

“…A Markovian jump process [4]- [6] and a binary switching sequence [7]- [12] are commonly used to model the packet dropout phenomena. In [4], the packet dropout phenomenon was modeled as a Markovian jump linear system and the estimator guaranteeing expected estimation error covariance was designed based on jump Riccati equations.…”

mentioning

confidence: 99%

“…The finite-horizon robust filtering problem was considered in [11] for discrete-time stochastic systems with packet dropouts, and a time-varying filter was obtained. Recently, the moving horizon state estimation problem was investigated in [12] for networked systems with packet dropouts, and a sufficient condition for the convergence of the estimation error sequence was presented.…”

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confidence: 99%

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Moving Horizon Estimation for Networked Systems With Quantized Measurements and Packet Dropouts

Liu

Zhang

et al. 2013

IEEE Trans. Circuits Syst. I

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Moving Horizon State Estimation for Networked Control Systems With Multiple Packet Dropouts

Cited by 51 publications

References 15 publications

1-Bit processing based model predictive control for fractionated satellite missions

1-Bit processing based model predictive control for fractionated satellite missions

Moving Horizon Estimation for Cooperative Localisation with Communication Delay

Moving Horizon Estimation for Networked Systems With Quantized Measurements and Packet Dropouts

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