Quantized control with applications to mobile vehicles

Author

Liu, Jialing ; Elia, Nicola

Author_Institution

Dept. of Electr. Eng. & Comput. Eng., Iowa State Univ., Ames, IA, USA

Volume

3

fYear

2002

fDate

10-13 Dec. 2002

Firstpage

2391

Abstract

We develop a theory of stabilizing single-input nonlinear affine systems using quantized feedback. We construct a stabilizing quantizer based on a control Lyapunov function (CLF), and a robustly stabilizing quantizer based on a robust control Lyapunov function (RCLF). We characterize the coarsest quantizer under certain conditions. The special features of several classes of nonlinear affine systems are explored to obtain more specific results. Finally, we apply the proposed quantization scheme to the motion control of certain types of vehicles.

Keywords

continuous time systems; control system synthesis; discrete systems; feedback; mobile robots; motion control; nonlinear control systems; robust control; coarsest quantizer; mobile vehicles; motion control; quantized control; quantized feedback; robust control Lyapunov function; robustly stabilizing quantizer; single-input nonlinear affine systems; unicycle-type vehicle; Communication system control; Control systems; Feedback; Linear systems; Lyapunov method; Motion control; Nonlinear control systems; Quantization; Robust control; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7516-5

Type

conf

DOI

10.1109/CDC.2002.1184193

Filename

1184193