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Source–Channel coding for Closed-Loop control

Source–Channel Coding for Closed-Loop Control

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作者： LEI BAO KTH Royal Institute of Technology

学位级别：博士

Networked embedded control systems are present almost everywhere. A recent trend is to introduce wireless sensor networks in these systems, to take advantage of the added mobility and exibility oered by wireless so- lutions. In such networks, the sensor observations are typically quantized and transmitted over noisy links. Concerning the problem of closed-loop control over such non-ideal communication channels, relatively few works have appeared so far. This thesis contributes to this eld, by studying some fundamentally important problems in the design of joint source channel coding and optimal control. The main part of the thesis is devoted to joint design of the coding and control for scalar linear plants, whose state feedbacks are transmit- ted over binary symmetric channels. The performance is measured by a nite-horizon linear quadratic cost function. The certainty equivalence property of the studied systems is utilized, since it simplies the overall design by separating the estimation and the control problems. An itera- tive optimization algorithm for training the encoder decoder pairs, taking channel errors into account in the quantizer design, is proposed. Monte Carlo simulations demonstrate promising improvements in performance compared to traditional approaches. Event-triggered control strategies are a promising solution to the problem of ecient utilization of communication resources. The basic idea is to let each control loop communicate only when necessary. Event- triggered and quantized control are combined for plants aected by rarely occurring disturbances. Numerical experiments show that it is possible to achieve good control performance with limited control actuation and sensor communication.

关键词： optimal control certainty equivalence Stochastic control joint source–channel coding linear quadratic control joint coding and control Wireless Sensor Network

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control over Low-Rate Noisy Channels

Control over Low-Rate Noisy Channels

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作者： LEI BAO KTH Royal Institute of Technology

学位级别：博士

Networked embedded control systems are present almost everywhere. A recent trend is to introduce radio communication in these systems to increase mobility and flex- ibility. Network nodes, such as the sensors, are often simple devices with limited computing and transmission power and low storage capacity, so an important prob- lem concerns how to optimize the use of resources to provide sustained overall sys- tem performance. The approach to this problem taken in the thesis is to analyze and design the communication and control application layers in an integrated man- ner. We focus in particular on cross-layer design techniques for closed-loop control over non-ideal communication channels, motivated by future control systems with very low-rate and highly quantized sensor communication over noisy links. Several fundamental problems in the design of source–channel coding and optimal control for these systems are discussed. The thesis consists of three parts. The first and main part is devoted to the joint design of the coding and control for linear plants, whose state feedback is trans- mitted over a finite-rate noisy channel. The system performance is measured by a finite-horizon linear quadratic cost. We discuss equivalence and separation proper- ties of the system, and conclude that although certainty equivalence does not hold in general it can still be utilized, under certain conditions, to simplify the overall design by separating the estimation and the control problems. An iterative opti- mization algorithm for training the encoder–controller pairs, taking channel errors into account in the quantizer design, is proposed. Monte Carlo simulations demon- strate promising improvements in performance compared to traditional approaches. In the second part of the thesis, we study the rate allocation problem for state feedback control of a linear plant over a noisy channel. Optimizing a time-varying communication rate, subject to a maximum average-rate constraint, can b

关键词： sensor networks linear quadratic cost stochastic control joint source-channel coding joint coding and control rate allocation soft source decoding

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