We consider a joint sensor and controller design problem for linear Gaussian stochastic systems in which a weighted sum of quadratic control cost and the amount of information acquired by the sensor is minimized. This problem formulation is motivated by situations where a control law must be designed in the presence of sensing, communication, and privacy constraints. We show that the optimal joint sensor-controller design is relatively easy when the sensing policy is restricted to be linear. Namely, an explicit form of the optimal linear sensor equation, the Kalman filter, and the certainty equivalence controller that jointly solves the problem can be efficiently found by semidefinite programming (SDP). Whether the linearity assumption in our design is restrictive or not is currently an open problem.
Broadly, the term is used to refer to the limited ability of decision makers (human or robot) to acquire and process information. The model introduced by @cite_1 in the economics literature characterizes bounded rationality using the idea of Shannon's channel capacity. Inspired by this model, recently @cite_18 considered an information-constrained LQG control problem, which is similar to ). In this paper, we remove the somewhat restrictive assumptions made in @cite_18 , including that a controller there is a time invariant function of the current state only. Furthermore, our SDP-based approach is powerful in handling multi-dimensional systems, while @cite_18 is currently restricted to scalar systems.
@cite_18 @cite_1
2015893577 2588872972 2159535726 1972190631
Motivated in part by the “rational inattention” framework of information-constrained decision-making by economic agents, we have recently introduced a general model for average-cost optimal control of Markov processes subject to mutual information constraints [1]. The optimal information-constrained control problem reduces to an infinite-dimensional convex program and admits a decomposition based on the Bellman error, which is the object of study in approximate dynamic programming. In this paper, we apply our general theory to an information-constrained variant of the scalar linear-quadratic-Gaussian (LQG) control problem. We give an upper bound on the optimal steady-state value of the quadratic performance objective and present explicit constructions of controllers that achieve this bound. We show that the obvious certainty-equivalent control policy is suboptimal when the information constraints are very severe, and exhibit another policy that performs better in this low-information regime. In the two extreme cases of no information (open-loop) and perfect information, these two policies coincide with the optimum. Consider a control problem with a communication channel connecting the observer of a linear stochastic system to the controller. The goal of the controller is to minimize a quadratic cost function in the state variables and control signal, known as the linear quadratic regulator (LQR). We study the fundamental tradeoff between the communication rate @math bits sec and the expected cost @math . We obtain a lower bound on a certain rate-cost function, which quantifies the minimum directed mutual information between the channel input and output that is compatible with a target LQR cost. The rate-cost function has operational significance in multiple scenarios of interest: among others, it allows us to lower-bound the minimum communication rate for fixed and variable length quantization, and for control over noisy channels. We derive an explicit lower bound to the rate-cost function, which applies to the vector, non-Gaussian, and partially observed systems, thereby extending and generalizing an earlier explicit expression for the scalar Gaussian system, due to Tatikonda el al. The bound applies as long as the system noise has a probability density function. It can be closely approached by a simple lattice quantization scheme that only quantizes the innovation, that is, the difference between the controller's belief about the current state and the true state. Via a separation principle between control and communication, similar results hold for causal lossy compression of additive noise Markov sources. Apart from standard dynamic programming arguments, our technical approach leverages the Shannon lower bound, develops new estimates for data compression with coding memory, and uses some recent results on high resolution variable-length vector quantization to prove that the new converse bounds are tight. In this paper, we review how Shannon's classical notion of capacity is not enough to characterize a noisy communication channel if the channel is intended to be used as part of a feedback loop to stabilize an unstable scalar linear system. While classical capacity is not enough, another sense of capacity (parametrized by reliability) called "anytime capacity" is necessary for the stabilization of an unstable process. The required rate is given by the log of the unstable system gain and the required reliability comes from the sense of stability desired. A consequence of this necessity result is a sequential generalization of the Schalkwijk-Kailath scheme for communication over the additive white Gaussian noise (AWGN) channel with feedback. In cases of sufficiently rich information patterns between the encoder and decoder, adequate anytime capacity is also shown to be sufficient for there to exist a stabilizing controller. These sufficiency results are then generalized to cases with noisy observations, delayed control actions, and without any explicit feedback between the observer and the controller. Both necessary and sufficient conditions are extended to continuous time systems as well. We close with comments discussing a hierarchy of difficulty for communication problems and how these results establish where stabilization problems sit in that hierarchy Abstract A constraint that actions can depend on observations only through a communication channel with finite Shannon capacity is shown to be able to play a role very similar to that of a signal extraction problem or an adjustment cost in standard control problems. The resulting theory looks enough like familiar dynamic rational expectations theories to suggest that it might be useful and practical, while the implications for policy are different enough to be interesting.