Output Feedback Control applied to Car Pursuit problem with lossy network

In the last two decades the car pursuit problem has been heavily studied, mainly because it is a viable solution to minimize the occurrence of accidents on the road. The controller design usually considers that all measured signals are transmitted by a perfect network and that sensors and actuators do not fail. In a real implementation, these equipments may present failure and the network quality of transmission may not be fully reliable. Using Network Control System theory, it is possible to design a controller that takes into account the probabilities of failure in sensors, actuators or interruptions in signal communications. In this paper we compare the classical H
∞
output feedback controller with two different types of Markov Jump Linear Systems (MJLS) controllers. We show that, on a network with 25% packet loss rate, the proposed MJLS controllers outperform the classical H
∞
controllers by a factor of 10.