Sparse Packetized Predictive Control for Networked Control Over Erasure Channels

  title={Sparse Packetized Predictive Control for Networked Control Over Erasure Channels},
  author={Masaaki Nagahara and Daniel E. Quevedo and Jan \Ostergaard},
  journal={IEEE Transactions on Automatic Control},
We study feedback control over erasure channels with packet-dropouts. To achieve robustness with respect to packet-dropouts, the controller transmits data packets containing plant input predictions, which minimize a finite horizon cost function. To reduce the data size of packets, we propose to adopt sparsity-promoting optimizations, namely, l1 - l2 and l2-constrained l0 optimizations, for which efficient algorithms exist. We show how to design the tuning parameters to ensure (practical… CONTINUE READING
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