Modeling and Stability Analysis of Networked Robot System with Network-induced Delay and Data Dropout

Abstract

To the networked robot system (NRS) that drops packets randomly, we considered the problem of optimal linear quadratic Gaussian (LQG) control and analyzed the stability of a NRS by modeling it. By presenting a mathematical model based on a packet-dropped setting, we extended the familiar LQG separation principle, proposed an optimal algorithm irrespective of the packet drop pattern of the networked robot. For the case of packet drops occurring according to a Markov chain, the stability analysis was carried out. We used the uncertainty threshold principle to show that under certain conditions there was a rate for dropped packets for which an undisturbed networked control system with imperfect state observation was mean square stable, used a sub-optimal method to simplify the calculation of the estimator and controller, got the solution to the Riccati-like equation and guaranteed the mean square stability of the NRS with perfect state information.