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Reference Tracking of Nonlinear Dynamic Systems over Additive White Gaussian Noise Channel | ||
| AUT Journal of Modeling and Simulation | ||
| دوره 55، شماره 2، اسفند 2023، صفحه 359-368 اصل مقاله (902.54 K) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2024.22496.5328 | ||
| نویسندگان | ||
| Somayeh Dolatkhah Takloo1؛ Alireza Farhadi2؛ Ali KHaki sedigh* 3 | ||
| 1Faculty of Eelectrical Eengineering, K. N. Toosi University of Technology,Tehran, Iran | ||
| 2Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran | ||
| 3Faculty of electrical engineering, K. N. Toosi University of Technology | ||
| چکیده | ||
| This paper is concerned with state tracking as well as reference tracking of nonlinear dynamic systems with process and measurement noise over the Additive White Gaussian Noise (AWGN) channel which is subject to transmission noise and transmission power constraints. The AWGN channel is a continuous alphabet channel. Therefore, this channel is very suitable for controlling dynamic systems over wireless communication links. To address these problems, a novel encoder, decoder, and controller are proposed. This method compensates for communication imperfections and maintains real-time reference tracking at the end of the communication link. For identifying the time of linearization in the encoder and decoder, Monte-Carlo approximation is applied. Using the Monte Carlo approximator provides a possible approximation of the estimation error in the encoder and decoder at the same time. The linearization method is based on the variable (optimal) linearization rate. A proper encoder, decoder, and controller for real-time state estimation and reference tracking are proposed. The nonlinear dynamic system which was considered in this paper has process and measurement noises. Simulation results illustrate the satisfactory state tracking and reference tracking performances of the proposed technique; while the variable linearization technique is used. | ||
| کلیدواژهها | ||
| Autonomous vehicle؛ telepresence؛ teleoperation؛ AWGN channel؛ the extended Kalman filter؛ Monte-Carlo approximation | ||
| مراجع | ||
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