Path-dependent controller and estimator synthesis with robustness to delayed and missing data

Syed M. Hassaan, Qiang Shen, Sze Zheng Yong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents path-dependent feedback controllers and estimators with bounded tracking and estimation error guarantees for discrete-time affine systems with time-varying delayed and missing data, where the set of all temporal patterns for the missing or delayed data is constrained by a fixed-length language. In particular, we propose two controller/estimator synthesis approaches based on output feedback and output error feedback parameterizations such that the tracking or estimation errors satisfy a property known as equalized recovery, where the errors are guaranteed to satisfy a recovery level at the start and the end of a finite time horizon, but may temporarily increase (by a bounded amount) within the horizon. To achieve this, we introduce a mapping of the fixed-length delayed/missing data language onto a reduced event-based language, and present designs with feedback gain matrices that adapt based on the observed path in the reduced language, resulting in improved performance. Furthermore, we propose a word observer that finds the set of words (i.e., the delayed/missing data patterns) in the original fixed-length language that are compatible with the observed path. The effectiveness of the proposed approaches when compared to existing approaches is demonstrated using several illustrative examples.

Original languageEnglish (US)
Title of host publicationHSCC 2021 - Proceedings of the 24th International Conference on Hybrid Systems
Subtitle of host publicationComputation and Control (part of CPS-IoT Week)
PublisherAssociation for Computing Machinery, Inc
ISBN (Electronic)9781450383394
DOIs
StatePublished - May 19 2021
Event24th ACM International Conference on Hybrid Systems Computation and Control, HSCC 2021, held as part of the 14th Cyber Physical Systems and Internet-of-Things Week, CPS-IoT Week 2021 - Virtual, Online, United States
Duration: May 19 2021May 21 2021

Publication series

NameHSCC 2021 - Proceedings of the 24th International Conference on Hybrid Systems: Computation and Control (part of CPS-IoT Week)

Conference

Conference24th ACM International Conference on Hybrid Systems Computation and Control, HSCC 2021, held as part of the 14th Cyber Physical Systems and Internet-of-Things Week, CPS-IoT Week 2021
Country/TerritoryUnited States
CityVirtual, Online
Period5/19/215/21/21

ASJC Scopus subject areas

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

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