标题：Optimal LQG Control for Networked Control Systems with Remote and Local Controllers
作者：Liang, Xiao; Xu, Juanjuan; Lu, Xiao; Qi, Qingyuan; Wang, Haixia; Gao, Rong
作者机构：[Liang, Xiao; Lu, Xiao; Wang, Haixia] Shandong Univ Sci & Technol, Coll Elect Engn & Automat, Qingdao 250061, Shandong, Peoples R China.; [Xu, Juanj 更多
通讯作者：Lu, Xiao;Lu, X;Qi, QY
通讯作者地址：[Lu, X]Shandong Univ Sci & Technol, Coll Elect Engn & Automat, Qingdao 250061, Shandong, Peoples R China;[Qi, QY]Qingdao Univ, Coll Automat, Inst Comp 更多
来源：INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
关键词：Delay; maximum principle; optimal control; packet dropout; remote and; local controllers
摘要：We consider the finite horizon optimal LQG control problem for networked control systems with a remote controller, a local controller and communication channels with packet dropouts and transmission delays. The local controller can directly observe state signals and send them to the remote controller via a packet-dropout channel. Then the remote controller sends the received measurement signals to the local controller. Afterwards, the two controllers operate the plant through a delayed channel. The contributions of this paper are as follows: Firstly, at the side of the remote controller, we develop an optimal estimator to show that the separation principle holds. Secondly, we derive a non-homogeneous relationship between the state and the costate of systems in virtue of the maximum principle. Finally, a necessary and sufficient condition for the optimal control problem is derived in terms of the two coupled Riccati equations. Numerical examples are employed to illustrate the theoretical results.