Actas de congresos
Output Feedback Control Applied To Car Pursuit Problem With Lossy Network
Registro en:
978-1-4673-9764-3
2016 Ieee Biennial Congress Of Argentina(argencon). Ieee, p. , 2016.
WOS:000386665200028
10.1109/ARGENCON.2016.7585264
Autor
Carvalho
Leonardo de P.; Palma
Jonathan M. O.; Goncalves
Alim P. C.
Institución
Resumen
In the last two decades the car pursuit problem has been heavily studied, mainly because it is a viable solution to minimize the occurrence of accidents on the road. The controller design usually considers that all measured signals are transmitted by a perfect network and that sensors and actuators do not fail. In a real implementation, these equipments may present failure and the network quality of transmission may not be fully reliable. Using Network Control System theory, it is possible to design a controller that takes into account the probabilities of failure in sensors, actuators or interruptions in signal communications. In this paper we compare the classical H-infinity output feedback controller with two different types of Markov Jump Linear Systems ( MJLS) controllers. We show that, on a network with 2 5 % packet loss rate, the proposed MJLS controllers outperform the classical H-infinity controllers by a factor of 10. IEEE Biennial Congress of Argentina (ARGENCON) JUN 15-17, 2016 Univ Tecnologica Nacl, Facultad Reg Buenos Aires, Buenos Aires, ARGENTINA