Optimal Sequence-Based Control and Estimation of Networked Linear Systems

TL;DR

This paper introduces a unified sequence-based control and estimation framework for linear networked systems, effectively handling delays and data losses without increasing network load, using a recursive HKF approach.

Contribution

It presents a novel unified approach for sequence-based control and estimation in networked systems, incorporating a recursive HKF for improved robustness.

Findings

Effective compensation for delays and data losses

Extension of sequence-based design to sensor-controller channels

Recursive HKF integration enhances estimation accuracy

Abstract

In this paper, a unified approach to sequence-based control and estimation of linear networked systems with multiple sensors is proposed. Time delays and data losses in the controller-actuator-channel are compensated by sending sequences of control inputs. The sequence-based design paradigm is further extended to the sensor-controller-channels without increasing the load of the network. In this context, we present a recursive solution based on the Hypothesizing Distributed Kalman Filter (HKF) that is included in the overall sequence-based controller design.