On the Problem of Delay and Packet Dropout in Networked Adaptive Systems

The principal objectives in this paper are to achieve output tracking when the given unknown plant is part of a networked system and to simultaneously address the effects of both network-induced delay and packet dropout. It is demonstrated that an intelligent use of available information is sufficient to mitigate the effects of both delay and packet dropout. Specifically, we use locally available estimate of the output in lieu of the actual output whenever necessary for the dual purpose of identifying the plant and to determine the appropriate control law for tracking desired trajectories.