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|Title:||Output Feedback Control Applied To Car Pursuit Problem With Lossy Network|
Leonardo de P.; Palma
Jonathan M. O.; Goncalves
Alim P. C.
|Abstract:||In the last two decades the car pursuit problem has been heavily studied, mainly because it is a viable solution to minimize the occurrence of accidents on the road. The controller design usually considers that all measured signals are transmitted by a perfect network and that sensors and actuators do not fail. In a real implementation, these equipments may present failure and the network quality of transmission may not be fully reliable. Using Network Control System theory, it is possible to design a controller that takes into account the probabilities of failure in sensors, actuators or interruptions in signal communications. In this paper we compare the classical H-infinity output feedback controller with two different types of Markov Jump Linear Systems ( MJLS) controllers. We show that, on a network with 2 5 % packet loss rate, the proposed MJLS controllers outperform the classical H-infinity controllers by a factor of 10.|
|Subject:||Markov Jump Linear System|
Networked Control System
|Appears in Collections:||Unicamp - Artigos e Outros Documentos|
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