Fixed-lag linear unbiased smoother for networked control systems with randomly multi-step sensor delays

摘要

This paper concerns with the fixed-lag linear unbiased smoothing problem for a new networked control system with randomly multi-step sensor delays. We develop a unified model to describe the mixed uncertainties of no sensor delays and multistep sensor delays by multiple random variables. As a result, there will be a matrix contained multiple random variables in the computational process when we use the traditional method of state augmentation to deal with the unified model. The method of mathematical induction is proposed in this paper, and the fixed-lag linear unbiased smoother that only depend on probabilities is developed successfully via this new method. Simulations, including comparison to the existing approach for randomly multi-step sensor delays, are provided to show the advantage of the proposed fixed-lag linear unbiased smoother.