Extended Kalman filter taking account of extra delays and intermittent data in Network Controlled Systems

International audienceNetwork Controlled Systems are becoming very popular today. However, the use of a network in the control loop induces extra difficulties. Among these difficulties, packet losses and extra delays must be carefully considered. This paper deals with both of these problems. The first one is tackled through an Extended Kalman Filter that is insensitive to data losses. The technique proposed is derived from the Kalman Filter previously proposed by Sinopoli et al. The second difficulty is considered through another Extended Kalman Filter, the state of which is augmented with the delay. The techniques proposed are exemplified on the UAV quadrotor benchmark developed at the GIPSA-Lab