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Sensor allocation with guaranteed exponential stability for linear multi-rate sampled-data systems
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DOI：10.1002/rnc.3364.png)
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This paper addresses sensor allocation with guaranteed exponential stability for linear multi-rate sampled-data systems. It is assumed that a continuous-time linear plant is exponentially stabilized by a continuous-time linear controller. Given sensors with incommensurate sampling rates, the objective is to allocate each state to a sensor such that the resulting multi-rate sampled-data system remains exponentially stable. The main contributions of this paper are twofold. First, we propose sufficient Krasovskii-based conditions to partition the state vector among sensors such that exponential stability of the closed-loop system is guaranteed. Second, the problem of finding a partition that guarantees exponential stability is cast as a mixed integer program subject to linear matrix inequalities. The theoretical results are successfully applied to two robotic problems: path-following in unicycles and hovering in quadrotors. Copyright (c) 2015 John Wiley & Sons, Ltd.
Keyword:
linear multi-rate sampled-data systems
sensor allocation
Lyapunov-Krasovskii functional
linear matrix inequalities
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