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Robust LQR-Based Architecture for Faulty Networked Control Systems

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Abstract

This paper proposes a networked control architecture that provides robustness not only to parametric uncertainties in the model but also to packet dropouts and time-varying network-induced delays. Contrary to the common approach of nonlinear optimization solvers, the estimation and control approaches stand out by providing a direct solution derived from an Extended Kalman Filter and a Recursive Robust Linear-Quadratic Regulator. Moreover, we prove that the optimal robust solution for a single agent suffices for the control of a homogeneous multi-agent scenario. Numerous simulations analyze the impact of different network conditions on the proposed architecture for a multi-agent scenario. Finally, the architecture was implemented and made available as a Robot Operating System (ROS) package, and trajectory-tracking missions were experimentally carried out to show the effectiveness of the proposed system.

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Funding

This work has been supported by the following Brazilian research agencies: São Paulo Research Foundation (FAPESP) (#2017/05668-0 and #2014/50851-0), and by Brazilian National Council for Scientific and Technological Development (CNPq) (#465755/2014-3, #421131/2018-7), and by Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - Brazil (CAPES) - Finance Code 001

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Author notes

  1. Roberto Inoue and Marco Terra contributed equally to this work.

Authors and Affiliations

  1. Department of Electrical Engineering, University of São Paulo, Av. Trabalhador São Carlense, 400, São Carlos, 13566-590, SP, Brazil

    João Benevides & Marco Terra

  2. Computer Science Department, Federal University of São Carlos, Rod. Washington Luis, São Carlos, 13565-905, SP, Brazil

    Roberto Inoue

Authors
  1. João Benevides
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  2. Roberto Inoue
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  3. Marco Terra
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Contributions

All authors contributed to the study, conception, and design. Coding, filtering design, and data processing were performed by D.Sc. João R. S. Benevides. The first draft of the manuscript was written by D.Sc. João R. S. Benevides, and all authors, have assisted in editing the manuscript. All authors read and approved the final manuscript.

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Correspondence to João Benevides.

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Benevides, J., Inoue, R. & Terra, M. Robust LQR-Based Architecture for Faulty Networked Control Systems. J Intell Robot Syst 109, 88 (2023). https://doi.org/10.1007/s10846-023-02017-8

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