State estimation and control for networked control systems in the presence of correlated packet drops

摘要

A networked control system is an enhanced version of a control system that works in tandem with two independent technologies, viz. communication and control. One of the major concerns in using wireless channels for measurement and control data transfer is packet drops. These packet drops can be correlated in time when considering a more realistic channel condition such as fading. The goal of this study is to develop a state estimation algorithm and optimal control strategy for networked control systems in the presence of correlated packet drops, determine bounds on estimation error covariance and validate the results through simulations using a specific mobile robot model.