Optimal LQG control based on the prediction for a robot system over wireless network

Wang WEI; Chen XU; Xunhe YIN; Yongduan SONG

doi:10.1109/ICEICE.2011.5778122

Optimal LQG control based on the prediction for a robot system over wireless network

Wang WEI^*
, Chen XU
, Xunhe YIN
, Yongduan SONG

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

2 Citations (Scopus)

Abstract

Based on the system which exists both delay and packet dropout not only in the forward path but also in the feedback path, the tracking problem of a wheeled mobile robot is presented, and the mathematic description is given. Then, a algorithm that combines a stochastic optimal control scheme with predictive control is proposed in this paper. The algorithm consists of two parts: the stochastic optimal control is used to deal with the delay which less than a sampling period, while the predictive control to give certain degree of compensation for delay which is more than a sampling period or the packet dropout. Finally, this algorithm is designed as a tracking controller. The simulation results show that the controller that takes the delays and the packet dropout into account indeed performs a good performance. © 2011 IEEE.

Original language	English
Title of host publication	2011 International Conference on Electric Information and Control Engineering, ICEICE 2011 - Proceedings
Publisher	IEEE
Pages	3406-3409
Number of pages	4
ISBN (Electronic)	9781424480395
ISBN (Print)	9781424480364
DOIs	https://doi.org/10.1109/ICEICE.2011.5778122
Publication status	Published - 7 Jul 2011
Externally published	Yes
Event	2011 International Conference on Electric Information and Control Engineering - Wuhan, China Duration: 15 Apr 2011 → 17 Apr 2011

Conference

Conference	2011 International Conference on Electric Information and Control Engineering
Country/Territory	China
City	Wuhan
Period	15/04/11 → 17/04/11

Keywords

LQG
predicitve
robot
tracking
wireless network control

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10.1109/ICEICE.2011.5778122

Cite this

@inproceedings{622c877f93854db095b1dca3412353b8,

title = "Optimal LQG control based on the prediction for a robot system over wireless network",

abstract = "Based on the system which exists both delay and packet dropout not only in the forward path but also in the feedback path, the tracking problem of a wheeled mobile robot is presented, and the mathematic description is given. Then, a algorithm that combines a stochastic optimal control scheme with predictive control is proposed in this paper. The algorithm consists of two parts: the stochastic optimal control is used to deal with the delay which less than a sampling period, while the predictive control to give certain degree of compensation for delay which is more than a sampling period or the packet dropout. Finally, this algorithm is designed as a tracking controller. The simulation results show that the controller that takes the delays and the packet dropout into account indeed performs a good performance. {\textcopyright} 2011 IEEE.",

keywords = "LQG, predicitve, robot, tracking, wireless network control",

author = "Wang WEI and Chen XU and Xunhe YIN and Yongduan SONG",

year = "2011",

month = jul,

day = "7",

doi = "10.1109/ICEICE.2011.5778122",

language = "English",

isbn = "9781424480364",

pages = "3406--3409",

booktitle = "2011 International Conference on Electric Information and Control Engineering, ICEICE 2011 - Proceedings",

publisher = "IEEE",

note = "2011 International Conference on Electric Information and Control Engineering ; Conference date: 15-04-2011 Through 17-04-2011",

}

WEI, W, XU, C, YIN, X & SONG, Y 2011, Optimal LQG control based on the prediction for a robot system over wireless network. in 2011 International Conference on Electric Information and Control Engineering, ICEICE 2011 - Proceedings., 5778122, IEEE, pp. 3406-3409, 2011 International Conference on Electric Information and Control Engineering, Wuhan, China, 15/04/11. https://doi.org/10.1109/ICEICE.2011.5778122

Optimal LQG control based on the prediction for a robot system over wireless network. / WEI, Wang; XU, Chen; YIN, Xunhe et al.
2011 International Conference on Electric Information and Control Engineering, ICEICE 2011 - Proceedings. IEEE, 2011. p. 3406-3409 5778122.

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

TY - GEN

T1 - Optimal LQG control based on the prediction for a robot system over wireless network

AU - WEI, Wang

AU - XU, Chen

AU - YIN, Xunhe

AU - SONG, Yongduan

PY - 2011/7/7

Y1 - 2011/7/7

N2 - Based on the system which exists both delay and packet dropout not only in the forward path but also in the feedback path, the tracking problem of a wheeled mobile robot is presented, and the mathematic description is given. Then, a algorithm that combines a stochastic optimal control scheme with predictive control is proposed in this paper. The algorithm consists of two parts: the stochastic optimal control is used to deal with the delay which less than a sampling period, while the predictive control to give certain degree of compensation for delay which is more than a sampling period or the packet dropout. Finally, this algorithm is designed as a tracking controller. The simulation results show that the controller that takes the delays and the packet dropout into account indeed performs a good performance. © 2011 IEEE.

AB - Based on the system which exists both delay and packet dropout not only in the forward path but also in the feedback path, the tracking problem of a wheeled mobile robot is presented, and the mathematic description is given. Then, a algorithm that combines a stochastic optimal control scheme with predictive control is proposed in this paper. The algorithm consists of two parts: the stochastic optimal control is used to deal with the delay which less than a sampling period, while the predictive control to give certain degree of compensation for delay which is more than a sampling period or the packet dropout. Finally, this algorithm is designed as a tracking controller. The simulation results show that the controller that takes the delays and the packet dropout into account indeed performs a good performance. © 2011 IEEE.

KW - LQG

KW - predicitve

KW - robot

KW - tracking

KW - wireless network control

UR - https://www.scopus.com/pages/publications/79959893569

U2 - 10.1109/ICEICE.2011.5778122

DO - 10.1109/ICEICE.2011.5778122

M3 - Conference paper (refereed)

AN - SCOPUS:79959893569

SN - 9781424480364

SP - 3406

EP - 3409

BT - 2011 International Conference on Electric Information and Control Engineering, ICEICE 2011 - Proceedings

PB - IEEE

T2 - 2011 International Conference on Electric Information and Control Engineering

Y2 - 15 April 2011 through 17 April 2011

ER -

Optimal LQG control based on the prediction for a robot system over wireless network

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Keywords

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