Remote control over wireless multi-hop networks is considered. Time-varying delays for the
transmission of sensor and control data over the wireless network are caused by a
randomized multi-hop routing protocol. The characterstics of the routing protocol together
with lower-layer network mechanisms give rise to a delay process with high variance and
stepwise changing mean. A new predictive control scheme with a delay estimator is
proposed in the paper. The estimator is based on a Kalman filter with a change detection …

ScholarWorks@Gyeongsang National University: Predictive Control over Wireless Multi-Hop
Networks … Conference Name IEEE Conference on Control Applications … Certain data
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