Quantized control with applications to mobile vehicles

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 27 Aug 2003Publisher:IEEEJournal:Proceedings of the 41st IEEE Conference on Decision and Control, 2002., volume 3, pages 2,391-2,396

Authors: Jialing Liu; Nicola Elia;

doi: 10.1109/cdc.2002.1184193

Quantized control with applications to mobile vehicles

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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.

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Iowa State University
United States

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