LQG Control for Networked Control Systems with Random Packet Delays and Dropouts via Multiple Predictive-Input Control Packets

摘要

This article addresses the Linear Quadratic Gaussian (LQG) optimal control problem for networked control systems when data is transmitted through a TCP-like network and both measurement and control packets are subject to random transmission delays and packet dropouts. Instead of adopting a "zero-input" or "hold-input" strategy, we propose a "predictive optimal-input" strategy, where at each time instant, K future control inputs are computed and sent in addition to the current one in the same control packet. The stabilizability conditions of the system are then derived. Simulation results are presented to demonstrate the effectiveness of the proposed approach.