Signal reconstruction under finite-rate measurements: Finite-horizon navigation application

Abstract

In this paper, we study finite-length signal reconstruction over a finite-rate noiseless channel. We allow the class of signals to belong to a bounded ellipsoid and derive a universal lower bound on a worst-case reconstruction error. We then compute upper bounds on the error that arise from different coding schemes and under different causality assumptions. We then map our general reconstruction problem into an important control problem in which the plant and controller are local to each other, but are together driven by a remote reference signal that is transmitted through a finite-rate noiseless channel. The problem is to navigate the state of the remote system from a nonzero initial condition to as close to the origin as possible in finite-time. Our analysis enables us to quantify the tradeoff between time horizon and performance accuracy which is not well-studied in the area of control with limited information as most works address infinite-horizon control objectives (eg. stability, disturbance rejection).