Adaptive quantized control of uncertain nonlinear rigid body systems
This paper deals with the attitude tracking control problem for a class of uncertain rigid body, modeled as nonlinear MIMO systems, with quantization for both inputs and states and with challenges in controller design due to its nonlinear behavior and uncertain parameters. In order to reduce the communication difficulties a quantizer for the signals is used and to achieve a tracking of a given reference signal a new adaptive backstepping based control scheme is developed, where the tracking error is shown to converge towards a residual. A new approach to stability analysis is proposed, and by choosing appropriate design parameters, the boundedness of all signals in the closed-loop system and tracking are ensured. A more general quantizer is considered and the main challenge to be handled is that the quantization errors depend linearly on the inputs of quantizers. They cannot be ensured bounded automatically. The proposed control scheme is implemented by experiments on a 2DOF helicopter system.
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