Title :
On LQG joint optimal scheduling and control under communication constraints
Author :
Molin, Adam ; Hirche, Sandra
Author_Institution :
Inst. of Autom. Control Eng., Tech. Univ. Munchen, Munich, Germany
Abstract :
In this paper, we consider a discrete-time stochastic system, where sensor measurements are sent over a network to the controller. The design objective is a non-classical multicriterion optimization problem for finite horizon, where the cost function consists of the linear quadratic cost reflecting the control performance and a communication cost penalizing information exchange between sensor and controller. It is shown that the joint optimization of scheduling and control can be separated into three subproblems: an optimal regulator problem, an estimation problem and an optimal scheduling problem. The obtained results are extended to TCP-like networks with random packet loss. In the proposed framework, we classify three classes of schedulers, a purely randomized, a deterministic and a state-dependent scheme, and compare their performance by a numerical example.
Keywords :
control system synthesis; cost optimal control; discrete time systems; linear quadratic Gaussian control; scheduling; sensors; stochastic systems; LQG joint optimal scheduling; TCP-like network; communication constraint; communication cost; control performance; cost function; deterministic scheduler; discrete-time stochastic system; estimation problem; finite horizon; information exchange; linear quadratic cost; nonclassical multicriterion optimization; optimal control; optimal regulator; random packet loss; randomized scheduler; sensor measurement; state-dependent scheduler; Automatic control; Communication system control; Control systems; Cost function; Networked control systems; Optimal control; Optimal scheduling; Stochastic processes; Stochastic systems; Timing;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400528