Chance-Constrained Dynamic Encoding-Based Control Over Noisy Communication Channels: An Active Bit-Flip-Error-Resistant Approach

Abstract

This paper investigates the chance-constrained control problem for uncertain systems, with a focus on the distortion of signal transmission between the controller and the actuator caused by noisy and bandwidth-limited communication channels, and its impact on the system's control performance. Initially, a binary dynamic encoding mechanism (DEM) is employed to encode the system's amplitude-continuous signal into a finite-length binary string, aiming to mitigate the communication burden. In the DEM-based control scheme, a critical issue is that the control performance is seriously affected by the bit-flip error (BFE), which inevitably occurs during the transmission of binary data through a noisy channel. To address this problem, a novel active BFE-resistant controller is proposed to effectively accomplish the desired control task by thoroughly considering the dynamic coupling effects between the BFE and the DEM. Subsequently, a chance constraint index is jointly considered to ensure the safe operation of the uncertain system under a guaranteed probability bound. Sufficient conditions are established for the existence of the active BFE-resistant controller such that the mean-square boundedness and the chance constraint index are ensured simultaneously. Finally, the validity of the proposed algorithm is verified by a simulation study targeting the remote control problem for autonomous ground vehicles.