ℋ∞ filtering for networked controlled systems
Salman Ahmed, M. Hasan, Fazli Subhan · 2014
Networked controlled systems comprise a team of dynamic systems which are linked together through a shared networked. From control systems perspective, the introduction of a shared networked brings its own challenges such as packet dropouts, time delays and clock synchronization. A popular application of networked controlled systems is to consider a team of collaborative mobile robots. Networked controlled robots involve a team of mobile robots working together with each other to accomplish a specific task. Each individual mobile robot has finite battery sources, which must be efficiently utilized. The efficient utilization of battery sources limits the communication capabilities of the robots. Furthermore, a shared network among the networked robots introduces time delays in the data received. This paper presents the design of an optimal ℋ∞filter to minimize the effects of time delays in the received data. A numerical example is presented to demonstrate the effectiveness of the proposed approach.