Optimal control over Markovian wireless communication channels under generalized packet dropout compensation

TL;DR

This paper models wireless networked control systems with Markovian channels, addressing packet dropouts and compensation, and provides solutions for optimal control and stability analysis validated through simulations.

Contribution

It introduces a Markov jump linear system framework for wireless control with dropout compensation and derives stability conditions and optimal control solutions.

Findings

Stable control achieved with the proposed model.

Dropout compensation improves closed-loop performance.

Numerical simulations confirm theoretical results.

Abstract

Control loops closed over wireless links greatly benefit from accurate estimates of the communication channel condition. To this end, the finite-state Markov channel model allows for reliable channel state estimation. This paper develops a Markov jump linear system representation for wireless networked control with persistent channel state observation, stochastic message losses, and generalized packet dropout compensation. With this model, we solve the finite- and infinite-horizon linear quadratic regulation problems and introduce an easy-to-test stability condition for any given infinite-horizon control law. We also thoroughly analyze the impact of a scalar general dropout compensation factor on the stability and closed-loop performance of a rotary inverted pendulum controlled remotely through a wireless link. Finally, we validate the results numerically via extensive Monte Carlo simulations, showing the benefits of the proposed control strategy.