Control for Networked Control Systems with Remote and Local Controllers over Unreliable Communication Channel

TL;DR

This paper addresses optimal control and stabilization of networked control systems with both remote and local controllers over unreliable communication channels, providing conditions based on Riccati equations and demonstrating effectiveness through UAV examples.

Contribution

It introduces necessary and sufficient Riccati-based conditions for optimal control and stabilization in networked control systems with dual controllers.

Findings

Finite horizon optimal control characterized by two Riccati equations.

System stabilizability linked to solutions of algebraic Riccati equations.

Numerical UAV examples validate the proposed control algorithms.

Abstract

This paper is concerned with the problems of optimal control and stabilization for networked control systems (NCSs), where the remote controller and the local controller operate the linear plant simultaneously. The main contributions are two-fold. Firstly, a necessary and sufficient condition for the finite horizon optimal control problem is given in terms of the two Riccati equations. Secondly, it is shown that the system without the additive noise is stabilizable in the mean square sense if and only if the two algebraic Riccati equations admit the unique solutions, and a sufficient condition is given for the boundedness in the mean square sense of the system with the additive noise. Numerical examples about the unmanned aerial vehicle model are shown to illustrate the effectiveness of the proposed algorithm.