An Analysis Framework for Evaluating Dropout Compensation Strategies in Wireless Servo Systems

Abstract

This paper presents an approach for analyzing the performance of dropout compensation strategies for linear servo control systems operating over communication channels with losses. A loss of communication causes the normal control action to be replaced by an appropriately designed dropout compensation action. A linear matrix inequality based approach is given for examining H∞ and/or H2 performance of wireless feedback systems using dropout compensation where we assume a two-state Markov model for the communication network. To illustrate the analysis method, we introduce two specific data dropout compensation schemes: zero order hold and estimation. These two schemes are compared in simulation and experiment to validate the effectiveness of the performance analysis.