Packetized Predictive Control for Rate-Limited Networks via Sparse Representation

TL;DR

This paper introduces a packetized predictive control method for linear plants over unreliable, rate-limited networks, using sparse control packets optimized via an ell-0 approach to ensure stability and reduce data transmission.

Contribution

It proposes a novel sparse packet design using ell-0 optimization with orthogonal matching pursuit, enhancing robustness and efficiency in networked control systems.

Findings

Ensures asymptotic stability despite packet dropouts.

Reduces bit-rate compared to traditional quadratic cost control.

Provides effective sparse control packet solutions.

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 ell-0 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.