Packetized Predictive Control for Rate-Limited Networks via Sparse Representation

Masaaki Nagahara, Daniel Quevedo, Jan Østergaard

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

19 Citations (Scopus)
341 Downloads (Pure)

Abstract

We study a networked control architecture for linear time-invariant plants in which an unreliable data-rate limited network is placed between the controller and the plant input. The distinguishing aspect of the situation at hand is that an unreliable data-rate limited network is placed between controller and the plant input. To achieve robustness with respect to dropouts, the controller transmits data packets containing plant input predictions, which minimize a finite horizon cost function. In our formulation, we design sparse packets for rate-limited networks, by adopting an an ℓ0 optimization, which can be effectively solved by an orthogonal matching pursuit method. Our formulation ensures asymptotic stability of the control loop in the presence of bounded packet dropouts. Simulation results indicate that the proposed controller provides sparse control packets, thereby giving bit-rate reductions for the case of memoryless scalar coding schemes when compared to the use of, more common, quadratic cost functions, as in linear quadratic (LQ) control.
Original languageEnglish
Title of host publication51st IEEE Conference on Decision and Control (CDC)
Number of pages6
PublisherIEEE
Publication dateDec 2012
Pages1362-1367
ISBN (Print)978-1-4673-2065-8
ISBN (Electronic)978-1-4673-2064-1
DOIs
Publication statusPublished - Dec 2012
Event51st IEEE Conference on Decision and Control (CDC) - Hawaii, Maui, United States
Duration: 10 Dec 201213 Dec 2012

Conference

Conference51st IEEE Conference on Decision and Control (CDC)
LocationHawaii
CountryUnited States
CityMaui
Period10/12/201213/12/2012
SeriesI E E E Conference on Decision and Control. Proceedings
ISSN0743-1546

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