Sparse Packetized Predictive Control for Networked Control over Erasure Channels

Masaaki Nagahara, Daniel E. Quevedo, Jan Østergaard

Research output: Contribution to journalJournal articleResearchpeer-review

64 Citations (Scopus)
353 Downloads (Pure)

Abstract

We study feedback control over erasure channels with packet-dropouts. To achieve robustness with respect to packet-dropouts, the controller transmits data packets containing plant input predictions, which minimize a finite horizon cost function. To reduce the data size of packets, we propose to adopt sparsity-promoting optimizations, namely, l1 - l2 and l2-constrained l0 optimizations, for which efficient algorithms exist. We show how to design the tuning parameters to ensure (practical) stability of the resulting feedback control systems when the number of consecutive packet-dropouts is bounded.
Original languageEnglish
JournalI E E E Transactions on Automatic Control
Volume59
Issue number7
Pages (from-to)1899-1905
ISSN0018-9286
DOIs
Publication statusPublished - Jul 2014

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