State estimation and control of networked control systems in the presence of channel uncertainties

Abstract

This era has seen significant growth in networked control system (NCS) and their newlineremarkable expansion, driven by advancements in communication and related technologies. As a unique combination of two well-established technologies, viz. control systems and communication networks, NCS are applied across various domains, including agriculture, military, and autonomous navigation, among others. While NCS offer newlinenumerous advantages, they are also susceptible to challenges such as noise, attenuation, and fading, which can result in data delays or drops that negatively affect system performance. These delays and data losses can significantly degrade performance, newlinepotentially causing unbounded estimation errors or even driving the system unstable. newline newlineThis thesis addresses the challenges posed by naturally occurring channel impairments that lead to data losses in NCS, with a particular focus on correlated packet dropouts induced by fading effects in wireless communication channels. These channelinduced effects significantly degrade estimation and control performance, potentially destabilizing the system. A comprehensive theoretical framework was developed to model and analyze the impact of correlated packet losses on state estimation and control performance. The framework introduces a slot-based system to capture channeldependent packet behavior, facilitating a deeper analysis of packet dropouts.