Stochastic LQ control under asymptotic tracking for discrete systems over multiple lossy channels

Ling, Rongyao; Feng, Ying; Claveau, Fabien; Chevrel, Philippe

doi:10.1049/iet-cta.2018.6234

Cited by 4 publications

(3 citation statements)

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“…The tracking problem is not included in the theoretical results proposed in this paper, and therefore the defects such as time delay and coefficients' representation are not considered for y(k) and u(k). The specific design method for u(k) can be found in [28], and is not reiterated in this paper.…”

Section: Simulation Resultsmentioning

confidence: 99%

“…2, the platform consists of two cooperative mobile robots, one camera and a supervisor. Using the camera, the supervisor can measure the absolute position and velocity of each robot to calculate and send control signals to each robot through a wireless protocol, which drive the two cooperative robots so that their center of gravity follows a predefined path [28]. The future objective is to remove the supervisor and camera so that the control law can become directly embedded onto the two robots.…”

Section: Examplementioning

confidence: 99%

“…where A = A p + B p F . The specific design method for F can be found in [28], which is not directly related to the results proposed in this paper and is therefore not mentioned here. For the above plant, an estimator with the standard model defined in (1) is proposed as…”

Section: A Cooperative Robots Modelingmentioning

confidence: 99%

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Design and Realizations of Networked Estimators: A Descriptor Model Approach

et al. 2020

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This paper addresses the design and realization of a networked estimator, which requires further digital implementation using several subsystems. Implementation on a digital process entails finite word length effects on the coefficients' representation, and a multiple-subsystem architecture also introduces internal time delays in the information interaction. Dealing with these intrinsic defects requires finding a resilient realization. A corresponding descriptor model-based approach is thus constructed to describe the internal time delays and equivalent realizations with finite word length effects in a unifying framework, which enables simultaneous consideration of design and realization. Based on the obtained descriptor model, a stability analysis condition is deduced and a design method for the estimator is further obtained. An algorithm is also proposed for finding the optimal realization requiring the minimum word length for stabilization. Finally, a simulation with two cooperative robots is considered to illustrate the effectiveness of the results. INDEX TERMS Estimation, system implementation, finite word length effects, delay systems.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Examplementioning

confidence: 99%