Variable step-size estimation over UDP-based wireless networks with application to a hydrogen-powered UAV

IF 2.2 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

IET Control Theory and Applications Pub Date : 2024-01-15 DOI:10.1049/cth2.12621

Shi Liang, Chenxiao Cai, Min Xia, Hong Lin

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Abstract

In this paper, the problem of state estimation for systems over wireless networks using user datagram protocol is focused on. It is known that for such a system, the probability density function of the system state follows a Gaussian mixture model (GMM), and the number of components in this model grows exponentially over time, which makes the computation of optimal estimates infeasible. To compute optimal estimates, based on Kullback-Leibler divergence, a strategy with variable step-sizes to truncate and fuse the GMM is proposed. Based on the obtained GMM, a variable step-size estimator is designed to compute optimal estimates during an estimation cycle. The advantages of the proposed estimator are twofold: (1) its estimation performance is superior to that of existing one-step fast estimators; (2) its estimation efficiency is much higher than that of the optimal estimator. Finally, trajectory tracking has been proposed for a real-world hydrogen-powered unmanned aerial vehicle to show the effectiveness of our methods.

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基于 UDP 的无线网络上的可变步长估计，应用于氢动力无人机

本文主要研究使用用户数据报协议的无线网络系统的状态估计问题。众所周知，对于这种系统，系统状态的概率密度函数遵循高斯混合模型（GMM），而该模型中的分量数量随时间呈指数增长，这使得计算最优估计值变得不可行。为了计算最优估计值，我们提出了一种基于库尔贝-莱布勒发散的、步长可变的策略来截断和融合 GMM。根据得到的 GMM，设计了一个可变步长估计器，用于在估计周期内计算最优估计值。提出的估计器有两个优点：（1）其估计性能优于现有的一步快速估计器；（2）其估计效率远高于最优估计器。最后，我们还为实际世界中的氢动力无人飞行器提出了轨迹跟踪方法，以展示我们方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IET Control Theory and Applications 工程技术-工程：电子与电气

CiteScore

5.70

自引率

7.70%

发文量

167

审稿时长

5.1 months

期刊介绍： IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.