Multiple descriptions for packetized predictive control

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• 作者：Jan Østergaard ; Daniel Quevedo
• 关键词：Quantization ; Networked control ; Multiple descriptions
• 刊名：EURASIP Journal on Advances in Signal Processing
• 出版年：2016
• 出版时间：December 2016
• 年：2016
• 卷：2016
• 期：1
• 全文大小：985 KB
• 刊物主题：Signal, Image and Speech Processing;
• 出版者：Springer International Publishing
• ISSN：1687-6180

文摘

In this paper, we propose to use multiple descriptions (MDs) to achieve a high degree of robustness towards random packet delays and erasures in networked control systems. In particular, we consider the scenario, where a data-rate limited channel is located between the controller and the plant input. This forward channel also introduces random delays and dropouts. The feedback channel from the plant output to the controller is assumed noiseless. We show how to design MDs for packetized predicted control (PPC) in order to enhance the robustness. In the proposed scheme, a quantized control vector with future tentative control signals is transmitted to the plant at each discrete time instant. This control vector is then transformed into M redundant descriptions (packets) such that when receiving any 1≤J≤M packets, the current control signal as well as J−1 future control signals can be reliably reconstructed at the plant side. For the particular case of LTI plant models and i.i.d. channels, we show that the overall system forms a Markov jump linear system. We provide conditions for mean square stability and derive upper bounds on the operational bit rate of the quantizer to guarantee a desired performance level. Simulations reveal that a significant gain over conventional PPC can be achieved when combining PPC with suitably designed MDs.