Adaptive Backstepping Control of Uncertain Nonlinear Systems With Input and State Quantization

• 成果类型: Article
• 署名作者: Wang, Wei; Zhou, Jing; Wen, Changyun; Long, Jiang
• 署名单位: Beihang University; University of Agder; Nanyang Technological University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3131958
• 发表日期: 2022
• 页码: 6754-6761
• 关键词: adaptive control; Backstepping; Nonlinear systems; state/input quantization

摘要

Although it is common in network control systems that the sensor and control signals are transmitted via a common communication network, no result is available in investigating the stabilization problem for uncertain nonlinear systems with both input and state quantization. The issue is solved in this article, by presenting an adaptive backstepping based control algorithm for the systems with sector bounded input/state quantizers. In addition to overcome the difficulty to proceed recursive design of virtual controls with quantized states, the relation between the input signal and error state need be well established to handle the effects due to input quantization. It is shown that all closed-loop signals are ensured uniformly bounded and all states will converge to a compact set. Experimental results are provided to validate the effectiveness of the proposed control scheme.