Generalized pseudo-Bayesian estimator for networked control systems over UDP-like channels |
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| Authors: | Shi Liang Zhenyu Liu Chan Qiu Jianrong Tan |
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| Institution: | State Key Laboratory of CAD&CG, Zhejiang University, Hangzhou, Zhejiang 310027, China |
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| Abstract: | This paper focuses on state estimation issues for networked control systems (NCSs) with both control input and observation packet dropouts over user datagram protocol (UDP) communication channels. For such systems, which are usually known as UDP-like systems, the computation cost of the optimal estimator is too high to afford in practice due to exponential growth of complexity. Although quite a few suboptimal estimators could be alternatives for improving the computational efficiency, yet researches on the stability of suboptimal estimators are rarely reported. Based on the generalized pseudo-Bayesian (GPB) algorithm, an efficient suboptimal algorithm is developed for UDP-like systems. More crucially, a sufficient condition is obtained, which guarantees the stability of its mean estimation error covariance. This stability condition explicitly expresses that the rate of observation packet dropout is a critical factor in determining the stability of the proposed GPB estimator, while the rate of control input packet dropout has no influence on it. The results are illustrated by numerical examples. |
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| Keywords: | Corresponding author |
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