Optimal LQG control based on the prediction for a robot system over wireless network

摘要

Based on the system which exists both delay and packet dropout not only in the forward path but also in the feedback path, the tracking problem of a wheeled mobile robot is presented, and the mathematic description is given. Then, a algorithm that combines a stochastic optimal control scheme with predictive control is proposed in this paper. The algorithm consists of two parts: the stochastic optimal control is used to deal with the delay which less than a sampling period, while the predictive control to give certain degree of compensation for delay which is more than a sampling period or the packet dropout. Finally, this algorithm is designed as a tracking controller. The simulation results show that the controller that takes the delays and the packet dropout into account indeed performs a good performance.