非完全可靠網路傳輸環境下進行控制之最佳雙補償器與控制器設計

An Optimal Dual Compensator Design for LQG Control across Unreliable Communication Channels

黃偉翔(Wei-Hsiang Huang)

指導教授 ： 游仁德

中原大學/電機資訊學院/電機工程研究所/碩士(2019年)

https://doi.org/10.6840/cycu201900501

摘要

近年來由於物聯網的興起，跨網路控制越來越受到重視，儘管這方面的應用已經廣泛的運用在我們的生活之中，但是還是有很多問題值得我們去考量。像是封包遺失補償的部分，因為當封包跨過網路進行傳輸的時候，它就有遺失的可能，因此當封包遺失時如何去補償就變成一個很重要的議題。在我們的論文中，我們會去探討我們是如何使用前兩刻的控制再各自乘上一個增益來當作我們的最佳補償，在此有一個假設就是我們會先假設卡爾曼濾波器的封包傳輸情況是完美的，也就是封包一定能夠傳送到目的地而不會遺失。再來，卡爾曼濾波器的部分我們會提到當封包遺失的時候，我們是如何使用前一刻的差值並且乘上一個最佳純量增益來進行我們的封包遺失補償。最後假設疊加原理是成立的，我們會去探討我們是如何去將單邊各自的封包遺失補償結果給結合在一起，使得我們的補償結果變成雙邊的封包遺失補償。

關鍵字

卡爾曼率波器 ； 封包遺失 ； 最佳補償

並列摘要

In recent years, due to the rise of the Internet of Things, cross-network control has received more and more attention. Although this application has been widely used in our lives, there are still many problems we have to considering. Like packet loss compensation, because when the packet is transmitted across the network, it may be dropout, so how to compensate when the packet is lost becomes an important issue. In our thesis, we will explore how we use the first two moments of control and then multiply each gain as our optimal compensation. Here, we have a hypothesis that we will assume the Kalman filter’s packet transmission is perfect. That is, the packet must be delivered to the destination without loss. And then, in the Kalman filter section, we will mention how we use the difference of the previous moment and multiply the best scalar gain to compensate when the packet is lost. Finally, suppose that the superposition principle is established, we will discuss how we combine the compensation results of the unilateral packets lost, so that our compensation result becomes a dual packet loss compensation.

並列關鍵字

optimal compensation ； Kalman filter ； network control

參考文獻

[1] Hong Lin, Hongye Su, Senior Member, IEEE, Peng Shi,Fellow, IEEE, Renquan Lu,Member, IEEE, and Zheng-Guang Wu, “Estimation and LQG Control Over Unreliable

Network With Acknowledgment Randomly Lost” IEEE TRANSACTIONS ON CYBERNETICS, VOL. 47, NO. 12, DECEMBER 2017

[2] Vijay Gupta, Member, IEEE, “On Estimation Across Analog Erasure Links With and Without Acknowledgements” IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 55, NO. 12, DECEMBER 2010

[3] Maryam Moayedi, Yung K. Foo, and Yeng C. Soh, Member, IEEE, “Networked LQG Control over Unreliable Channels” 49th IEEE Conference on Decision and Control

Hilton Atlanta Hotel, Atlanta, GA, USA December 15-17, 2010