Switching data-processing methods in a control loop : trade-off between delay and probability of data acquisition

E.P. van Horssen, D. Antunes, W.P.M.H. Heemels

Research output: Contribution to journalConference articleAcademicpeer-review

1 Citation (Scopus)
1 Downloads (Pure)

Abstract

Many control applications, such as vision-based control, require data-processing methods to distill sensor information. This data-processing introduces several undesired effects in the control loop, such as delays, the probability of not acquiring information, and measurement inaccuracies. Often, these effects obey a trade-off. For example, the probability of acquiring control-relevant information, related to the probability of data-loss, is typically higher if a larger delay is allowed. While a single processing method with a reasonable trade-off is typically selected, we propose instead a solution to switch between data-processing methods with different delays and corresponding data-loss probabilities. We prove that the proposed method achieves a better LQG-type performance when compared to the individual methods. A simulation considering a second-order system illustrates the advantages of the proposed method.
Original languageEnglish
Pages (from-to)274-279
Number of pages6
JournalIFAC-PapersOnLine
Volume49
Issue number22
DOIs
Publication statusPublished - 2016
Event6th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS 2016), September 8-9, 2016, Tokio, Japan - Tokio, Japan
Duration: 8 Sep 20169 Sep 2016

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Data acquisition
Switches
Sensors
Processing

Keywords

  • Switched systems
  • Self-triggered control
  • Optimal control
  • Data-processing
  • Data acquisition
  • Time-delay
  • Probability of information loss

Cite this

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title = "Switching data-processing methods in a control loop : trade-off between delay and probability of data acquisition",
abstract = "Many control applications, such as vision-based control, require data-processing methods to distill sensor information. This data-processing introduces several undesired effects in the control loop, such as delays, the probability of not acquiring information, and measurement inaccuracies. Often, these effects obey a trade-off. For example, the probability of acquiring control-relevant information, related to the probability of data-loss, is typically higher if a larger delay is allowed. While a single processing method with a reasonable trade-off is typically selected, we propose instead a solution to switch between data-processing methods with different delays and corresponding data-loss probabilities. We prove that the proposed method achieves a better LQG-type performance when compared to the individual methods. A simulation considering a second-order system illustrates the advantages of the proposed method.",
keywords = "Switched systems, Self-triggered control, Optimal control, Data-processing, Data acquisition, Time-delay, Probability of information loss",
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Switching data-processing methods in a control loop : trade-off between delay and probability of data acquisition. / Horssen, E.P. van; Antunes, D.; Heemels, W.P.M.H.

In: IFAC-PapersOnLine, Vol. 49, No. 22, 2016, p. 274-279.

Research output: Contribution to journalConference articleAcademicpeer-review

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T1 - Switching data-processing methods in a control loop : trade-off between delay and probability of data acquisition

AU - Horssen, E.P. van

AU - Antunes, D.

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N2 - Many control applications, such as vision-based control, require data-processing methods to distill sensor information. This data-processing introduces several undesired effects in the control loop, such as delays, the probability of not acquiring information, and measurement inaccuracies. Often, these effects obey a trade-off. For example, the probability of acquiring control-relevant information, related to the probability of data-loss, is typically higher if a larger delay is allowed. While a single processing method with a reasonable trade-off is typically selected, we propose instead a solution to switch between data-processing methods with different delays and corresponding data-loss probabilities. We prove that the proposed method achieves a better LQG-type performance when compared to the individual methods. A simulation considering a second-order system illustrates the advantages of the proposed method.

AB - Many control applications, such as vision-based control, require data-processing methods to distill sensor information. This data-processing introduces several undesired effects in the control loop, such as delays, the probability of not acquiring information, and measurement inaccuracies. Often, these effects obey a trade-off. For example, the probability of acquiring control-relevant information, related to the probability of data-loss, is typically higher if a larger delay is allowed. While a single processing method with a reasonable trade-off is typically selected, we propose instead a solution to switch between data-processing methods with different delays and corresponding data-loss probabilities. We prove that the proposed method achieves a better LQG-type performance when compared to the individual methods. A simulation considering a second-order system illustrates the advantages of the proposed method.

KW - Switched systems

KW - Self-triggered control

KW - Optimal control

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KW - Data acquisition

KW - Time-delay

KW - Probability of information loss

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