Optimal LQG control based on the prediction for a robot system over wireless network
Wei Wang, Xu Chen, Xunhe Yin, Yongduan Song · 2011
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.