On Event-Based Sampling for LQG-Optimal Control

Forskningsoutput: KonferensbidragPoster

Abstract

We consider the problem of finding an event-based sampling scheme that optimizes the trade-off between average sampling rate and control performance in a linear-quadratic-Gaussian (LQG) control problem setting with output feedback. Our analysis is based on a recently presented sampled-data controller structure, which remains LQG-optimal for any choice of sampling scheme. We show that optimization of the sampling scheme is related to an elliptic convection–diffusion type partial differential equation over a domain with free boundary, a so called Stefan problem. A numerical method is presented to solve this problem for second order systems, and thus obtain an optimal sampling scheme. The method also directly generalizes to higher order systems, although with a higher computational cost. For the special case of multidimensional integrator systems, we present the optimal sampling scheme on closed form, and prove that it will always outperform its periodic counterpart. Tight bounds on the improvement are presented. The improved performance is also demonstrated in numerical examples, both for an integrator system and a more general case.

Detaljer

Författare
Enheter & grupper
Forskningsområden

Ämnesklassifikation (UKÄ) – OBLIGATORISK

  • Reglerteknik
Originalspråkengelska
StatusPublished - 2018 jun 19
PublikationskategoriForskning
Peer review utfördNej
EvenemangReglermöte 2018 - KTH, Stockholm, Sverige
Varaktighet: 2018 jun 182018 jun 20

Konferens

KonferensReglermöte 2018
Förkortad titelRM18
LandSverige
OrtStockholm
Period2018/06/182018/06/20

Nedladdningar

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Relaterad forskningsoutput

Marcus Thelander Andrén, 2019, 2019 18th European Control Conference (ECC). Institute of Electrical and Electronics Engineers Inc.

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceeding

Marcus Thelander Andrén, Bo Bernhardsson, Anton Cervin & Kristian Soltesz, 2018 jan, 56th IEEE Conference on Decision and Control, CDC, 2017. s. 5438-5444 7 s.

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceeding

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