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This paper is concerned with estimation problem for discrete-time systems with packet dropping. A new optimal filter is derived by minimizing the mean squared estimation error. An optimal smoother is also derived in a similar way. Both estimators are designed by solving one deterministic Riccati equation. Both the convergence of the estimation error covariance and mean square stability of the estimator...
In this paper, we consider sensor data scheduling over a packet-dropping network. A sensor having sufficient computation capability runs a local Kalman filter and needs to communicate its local state estimate to a remote estimator. However, the sensor has to decide at each time whether to send its local estimate data to the remote estimator or not due to its limited communication energy. We first...
In this study, we consider an unknown discrete-time, linear time-invariant, autonomous system and characterise, the minimal number of discrete-time steps necessary to compute the asymptotic final value of a state. The results presented in this paper have a direct link with the celebrated final value theorem. We apply these results to the design of an algorithm for minimal-time distributed consensus...
In this paper, we consider discrete-time state estimation over a network. Two scenarios are investigated. In the first scenario, we assume the sensor sends its measurement packet across a packet-dropping network, and we find minimum packet arrival rate that guarantees certain performance at the remote estimator. In the second scenario, we assume the network does not drop any data packet but the sensor...
We study the problem of link scheduling for discrete-time agents to achieve average consensus in finite time under communication constraints. We provide necessary and sufficient conditions under which finite time consensus is possible. Furthermore, we prove bounds on the consensus time and exhibit provably optimal communication policies. We also discuss the dual problem of designing communication...
In this technical note we consider the problem of distributed discrete-time state estimation over sensor networks. Given a graph that represents the sensor communications, we derive the optimal estimation algorithm at each sensor. We further provide a closed-form expression for the steady-state error covariance matrices when the communication graph reduces to a directed tree. We then apply the developed...
In this work we consider a class of networked control systems (NCS) when the control signal is sent to the plant via a UDP-like communication protocol. In this case the controller sends a communication packet to the plant across a lossy network, but the controller does not receive any acknowledgement signal indicating the status of the control packet. Standard observer based estimators assume the...
In this paper, we consider a robust networked control problem. We consider linear unstable and uncertain discrete time plants with networks between the sensors and controller as well as the controller and plant. We investigate two defining characteristics of networked control systems and the impact uncertainty has on these. Namely, the minimum data rates required for the two networks and the tolerable...
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