Switching data-processing methods in a control loop: Trade-off between delay and probability of data acquisition. Issue 22 (2016)

• Record Type: Journal Article
• Authors: van Horssen, E.P.; Antunes, D.; Heemels, W.P.M.H.
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 22(2016)
• Page Start: 274
• Page End: 279
• Publication Date: 2016
• Subjects: Switched systems -- Self-triggered control -- Optimal control -- Data-processing -- Data acquisition -- Time-delay -- Probability of information loss; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.10.409
• Languages: English
• ISSNs: 2405-8963

Abstract

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.