Self-Triggered Stabilization of Contracting Systems Under Quantization

• 成果类型: Article
• 署名作者: Wakaiki, Masashi
• 署名单位: Kobe University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3540727
• 发表日期: 2025
• 页码: 5254-5269
• 关键词: Quantization (signal); control systems; Closed loop systems; measurement errors; Linear systems; Event detection; sensors; nonlinear dynamical systems; uncertainty; monitoring; Contraction theory; networked control systems; QUANTIZATION; self-triggered control

摘要

We propose self-triggered control schemes for nonlinear systems with quantized state measurements. Our focus lies on scenarios where both the controller and the self-triggering mechanism receive only the quantized state at each sampling time. We assume that the ideal closed-loop system without quantization or self-triggered sampling is contracting. Moreover, an upper bound on the growth rate of the open-loop system is assumed to be known. We present two control schemes that achieve closed-loop stability without Zeno behavior. The first scheme is implemented under logarithmic quantization and uses the quantized state for the threshold in the triggering condition. The second one is a joint design of zooming quantization and self-triggered sampling, where the adjustable zoom parameter for quantization changes based on intersampling times and is also used for the threshold of self-triggered sampling. In both schemes, the self-triggering mechanism predicts the future state from the quantized data for the computation of the next sampling time. We employ a trajectory-based approach for stability analysis, where contraction theory plays a key role.