Abstract
This paper is concerned with designing of a multirate controller over a network in which a sensor node transmits data to the controller node only if its measurement value changes more than a given specified δ value. When the send-on-delta transmission method is used, it is not ensured that the controller node receives data from the sensor nodes regularly at every control updating period. We thus propose a modified Kalman filter in which states of the plant are regularly estimated even if there is no sensor data reception. An optimal LQG controller is then designed in order to minimize the quadratic cost function of state and control effort. By providing the upper and lower bounds of the cost function, we prove that the proposed multirate controller is stable with the given δ value, which is a trade-off parameter between control performance and data transmission rate. Through numerical simulations, we demonstrate the feasibility and the usefulness of the proposed control method.
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References
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Nguyen, V.H., Suh, Y.S. (2007). A Modified Multirate Controller for Networked Control Systems with a Send-on-Delta Transmission Method. In: Huang, DS., Heutte, L., Loog, M. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Theoretical and Methodological Issues. ICIC 2007. Lecture Notes in Computer Science, vol 4681. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74171-8_30
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DOI: https://doi.org/10.1007/978-3-540-74171-8_30
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74170-1
Online ISBN: 978-3-540-74171-8
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