Quantized control with applications to mobile vehicles

Jianling Liu, Nicola Elia

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations

Abstract

In this paper 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.

Original languageEnglish (US)
Pages (from-to)2391-2396
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
StatePublished - Dec 1 2002
Externally publishedYes
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: Dec 10 2002Dec 13 2002

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