TY - GEN
T1 - Modified preview control for a wireless tracking control system with packet loss
AU - Zhang, Wenlong
AU - Bae, Joonbum
AU - Tomizuka, Masayoshi
PY - 2012
Y1 - 2012
N2 - In this paper, a modified preview control technique is proposed to compensate packet loss in a wireless tracking control system, where future reference signals over a finite horizon can be previewed. In order to utilize the future reference information for controller design, the system model is augmented with a reference generator whose states are the future reference signals. As a response to the packet loss that occurs in the wireless network, the preview control technique is modified by employing Bernoulli variables to represent packet losses in both controlleractuator and sensor-controller channels. The Bernoulli packet loss model, along with tracking errors and control inputs, is included in a quadratic cost function, and the optimal controller gain that minimizes the cost function is obtained by dynamic programming. A modified Kalman filter considering packet loss is utilized for full state estimation and state feedback control. Stability of the modified preview control system is studied using linear matrix inequalities (LMIs). Choice of preview horizon is discussed and performance of the proposed controller is verified by simulation and experimental results.
AB - In this paper, a modified preview control technique is proposed to compensate packet loss in a wireless tracking control system, where future reference signals over a finite horizon can be previewed. In order to utilize the future reference information for controller design, the system model is augmented with a reference generator whose states are the future reference signals. As a response to the packet loss that occurs in the wireless network, the preview control technique is modified by employing Bernoulli variables to represent packet losses in both controlleractuator and sensor-controller channels. The Bernoulli packet loss model, along with tracking errors and control inputs, is included in a quadratic cost function, and the optimal controller gain that minimizes the cost function is obtained by dynamic programming. A modified Kalman filter considering packet loss is utilized for full state estimation and state feedback control. Stability of the modified preview control system is studied using linear matrix inequalities (LMIs). Choice of preview horizon is discussed and performance of the proposed controller is verified by simulation and experimental results.
UR - http://www.scopus.com/inward/record.url?scp=84885941840&partnerID=8YFLogxK
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U2 - 10.1115/DSCC2012-MOVIC2012-8622
DO - 10.1115/DSCC2012-MOVIC2012-8622
M3 - Conference contribution
AN - SCOPUS:84885941840
SN - 9780791845295
T3 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
SP - 363
EP - 372
BT - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
T2 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Y2 - 17 October 2012 through 19 October 2012
ER -