Modified preview control for a wireless tracking control system with packet loss

Wenlong Zhang, Joonbum Bae, Masayoshi Tomizuka

Research output: Contribution to journalArticle

31 Scopus citations

Abstract

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 future reference information for the 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 loss in both controller-actuator 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. The choice of preview horizon is discussed and the performance of the proposed controller is verified by simulation and experimental results.

Original languageEnglish (US)
Article number6716977
Pages (from-to)299-307
Number of pages9
JournalIEEE/ASME Transactions on Mechatronics
Volume20
Issue number1
DOIs
StatePublished - 2015
Externally publishedYes

Keywords

  • Motion control
  • networked control systems
  • packet loss
  • preview control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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