Title :
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
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;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184193
