Optimal Quantizer Scheduling and Controller Synthesis for Partially Observable Linear Systems
Dipankar Maity, Panagiotis Tsiotras
Abstract
.In networked control systems, the sensory signals are often quantized before being transmitted to the controller. Consequently, performance is affected by the coarseness of this quantization process. Modern communication technologies allow users to obtain resolution-varying quantized measurements based on the prices paid. In this paper, we consider the problem of joint optimal controller synthesis and quantizer scheduling for a partially observed quantized-feedback linear-quadratic-Gaussian system, where the measurements are quantized before being sent to the controller. The system is presented with several choices of quantizers, along with the cost of using each quantizer. The objective is to jointly select the quantizers and synthesize the controller to strike an optimal balance between control performance and quantization cost. When the innovation signal is quantized instead of the measurement, the problem is decoupled into two optimization problems: one for optimal controller synthesis, and the other for optimal quantizer selection. The optimal controller is found by solving a Riccati equation and the optimal quantizer-selection policy is found by solving a linear program—both of which can be solved offline.Keywordsquantized optimal controlcommunication constrained controlMSC codes49N1093E0349N3593C4149K4594A05