The paper concerns the Linear Quadratic non-Gaussian (LQnG) sub-optimal control problem when the input and output signals travel through an unreliable network, namely Gilbert-Elliot channels. In particular, the input/output packet losses are modeled by Bernoulli sequences, and we assume that the moments of the non-Gaussian noises up to the fourth order are known. By mean of a suitable rewriting of the system through an intermittent output injection term, and by considering an augmented system with the second-order Kronecker power of the measurements, a simple solution is provided by substituting the Kalman predictor with intermittent observations of the LQG control law with a quadratic optimal predictor. Numerical simulations show the effectiveness of the proposed method.
LQ non-Gaussian Control with I/O packet losses / Battilotti, S.; Cacace, F.; D'Angelo, M.; Germani, A.; Sinopoli, B.. - (2020), pp. 2802-2807. (Intervento presentato al convegno 2020 American Control Conference tenutosi a Denver; United States) [10.23919/ACC45564.2020.9147371].
LQ non-Gaussian Control with I/O packet losses
S. Battilotti
;M. D'Angelo
;A. Germani
;
2020
Abstract
The paper concerns the Linear Quadratic non-Gaussian (LQnG) sub-optimal control problem when the input and output signals travel through an unreliable network, namely Gilbert-Elliot channels. In particular, the input/output packet losses are modeled by Bernoulli sequences, and we assume that the moments of the non-Gaussian noises up to the fourth order are known. By mean of a suitable rewriting of the system through an intermittent output injection term, and by considering an augmented system with the second-order Kronecker power of the measurements, a simple solution is provided by substituting the Kalman predictor with intermittent observations of the LQG control law with a quadratic optimal predictor. Numerical simulations show the effectiveness of the proposed method.File | Dimensione | Formato | |
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