This paper presents a new technique for the state estimation and reference tracking of nonlinear dynamic systems over the packet erasure channel, which is an abstract model for transmission via the Internet, WiFi wireless network and ZigBee modules. A new encoder and decoder for real time state estimation of nonlinear dynamic systems at the end of communication link when the measurements are sent through the limited capacity erasure channel, are presented. Then, using the available results from control theory, a controller for reference tracking and hence the stability of the system is also designed. That is, for nonlinear systems, almost sure asymptotic state estimation and reference tracking techniques including an encoder, decoder and a controller are presented. The satisfactory performances of the proposed state estimation and control techniques are illustrated via computer simulations by applying the proposed techniques on the unicycle model, which represents the dynamics of autonomous vehicles.

本文提出了一种用于数据包擦除信道上的非线性动态系统状态估计和参考跟踪的新技术，它是一种通过Internet，WiFi无线网络和ZigBee模块进行传输的抽象模型。提出了一种新的编码器和解码器，用于在通过有限容量擦除信道发送测量结果时，在通信链路末端实时评估非线性动态系统。然后，利用控制理论的可用结果，设计了一种用于参考跟踪的控制器，从而设计了系统的稳定性。即，对于非线性系统，提出了几乎确定的渐近状态估计和包括编码器，解码器和控制器的参考跟踪技术。