State Estimation and Send on Delta Strategy Codesign for Networked Control Systems
9th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2012), page 499--504. SciTePress - Science and and Technology Publications, (2012)DOI: 10.5220/0004038304990504
Abstract
In this work, a new strategy to minimize the use of the network in state estimation over networks is addressed, leading to a co-design procedure of both the observer and the policy for message sending. The sensor nodes implements a send-on-delta approach, sending new data only when there is a considerable deviation from the last sent measurement. The estimator node implements a gain scheduling approach that takes into account the availability of new received data. The performance of the observer is analyzed through H∞ norm in both deterministic and stochastic data transfer rate. This norm is used to design both the observer gains and the output variations that induce the sensors to send new outputs to the estimator node, while guaranteeing a given level of performance on the state estimation error. The design approach is based on an optimization procedure with linear and bilinear matrix inequalities constraints that is solved iteratively