Quantized feedback stabilization of non-linear affine systems

Jialing Liu, Nicola Elia

Research output: Contribution to journalArticlepeer-review

78 Scopus citations

Abstract

Recently, the study of quantized control systems has attracted increasing attention from researchers, due to its theoretical and practical importance in digit control, control under communication/computation constraints, etc. In this paper we develop a theory of stabilizing single-input non-linear affine systems using quantized feedback. We construct explicitly 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 for a given RCLF and the coarsest one over all RCLFs. The special features of several classes of non-linear 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)239-249
Number of pages11
JournalInternational Journal of Control
Volume77
Issue number3
DOIs
StatePublished - Feb 15 2004
Externally publishedYes

Bibliographical note

Funding Information:
This research was supported by the National Science Foundation under Grant No ECS-0093950. The authors wish to thank Emilio Frazzoli for fruitful discussions and suggestions.

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