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State Estimation in Networked Control Systems with Delayed and Lossy Acknowledgments

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Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System (MFI 2017)

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Abstract

In this article, we are concerned with state estimation in Networked Control Systems where both control inputs and measurements are transmitted over networks which are lossy and introduce random transmission delays. We focus on the case where acknowledgment packets transmitted by the actuator upon reception of applicable control inputs are also subject to delays and losses, as opposed to the common notion of TCP-like communication where successful transmissions are acknowledged instantaneously and without losses. As a consequence, the state estimator in the considered setup has only partial and belated knowledge concerning the actually applied control inputs which results in additional uncertainty. We derive an estimator by extending an existing approach for the special case of UDP-like communication which maintains estimates of the applied control inputs that are incorporated into the estimation of the plant state. The presented estimator is compared to the original approach in terms of Monte Carlo simulations where its increased robustness towards imperfect knowledge of the underlying networks is indicated.

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Notes

  1. 1.

    The mixture then essentially degenerates into a single Gaussian.

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Acknowledgments

This work is supported by the German Science Foundation (DFG) within the Priority Programme 1914 “Cyber-Physical Networking”.

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Authors and Affiliations

  1. Intelligent Sensor-Actuator-Systems Laboratory (ISAS), Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany

    Florian Rosenthal, Benjamin Noack & Uwe D. Hanebeck

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  1. Florian Rosenthal
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  2. Benjamin Noack
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  3. Uwe D. Hanebeck
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Correspondence to Florian Rosenthal .

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Editors and Affiliations

  1. Intelligent Systems Research Institute, Sungkyunkwan University, Suwon, Korea (Republic of)

    Sukhan Lee

  2. School of Electrical Engineering, Korea University, Seoul, Korea (Republic of)

    Hanseok Ko

  3. Department of Electrical and Computer Engineering, Seoul National University, Seoul, Korea (Republic of)

    Songhwai Oh

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Rosenthal, F., Noack, B., Hanebeck, U.D. (2018). State Estimation in Networked Control Systems with Delayed and Lossy Acknowledgments. In: Lee, S., Ko, H., Oh, S. (eds) Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System. MFI 2017. Lecture Notes in Electrical Engineering, vol 501. Springer, Cham. https://doi.org/10.1007/978-3-319-90509-9_2

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  • DOI: https://doi.org/10.1007/978-3-319-90509-9_2

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