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http://dx.doi.org/10.4218/etrij.17.0116.0566

Kalman Filtering with Optimally Scheduled Measurements in Bandwidth Limited Communication Media  

Pasand, Mohammad Mahdi Share (Department of Electrical and Computer Engineering, Abaspour Engineering Faculty, Shahid Beheshti University)
Montazeri, Mohsen (Department of Electrical and Computer Engineering, Abaspour Engineering Faculty, Shahid Beheshti University)
Publication Information
ETRI Journal / v.39, no.1, 2017 , pp. 13-20 More about this Journal
Abstract
A method is proposed for scheduling sensor accesses to the shared network in a networked control system. The proposed method determines the access order in which the sensors are granted medium access through minimization of the state estimation error covariance. Solving the problem by evaluating the error covariance for each possible ordered set of sensors is not practical for large systems. Therefore, a convex optimization problem is proposed, which yields approximate yet acceptable results. A state estimator is designed for the augmented system resulting from the incorporation of the optimally chosen communication sequence in the plant dynamics. A car suspension system simulation is conducted to test the proposed method. The results show promising improvement in the state estimation performance by reducing the estimation error norm compared to round-robin scheduling.
Keywords
Constrained optimization; Estimation; Networked control systems; Network communication; Scheduling;
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