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Modified Preview Control for a Wireless Tracking Control System With Packet Loss

[+] Author Affiliations
Wenlong Zhang, Masayoshi Tomizuka

University of California, Berkeley, Berkeley, CA

Joonbum Bae

UNIST, Ulsan, Korea

Paper No. DSCC2012-MOVIC2012-8622, pp. 363-372; 10 pages
doi:10.1115/DSCC2012-MOVIC2012-8622
From:
  • ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference
  • Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control
  • Fort Lauderdale, Florida, USA, October 17–19, 2012
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4529-5
  • Copyright © 2012 by ASME

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 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 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. 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.

Copyright © 2012 by ASME

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