Quantized feedback stabilization of non-linear affine systems
Single input nonlinear affine continuous dynamical systems are considered in this paper. A robust control Lyapunov function is defined for this type of systems. The derivative of such a function must meet an input dependent condition. It is shown that a robustly stabilizing state feedback control law exists for systems with known robust control Lyapunov function. A quantizer which maps the states of the system into piecewise control inputs is defined and a quantizer with the coarsest quantization densitiy is derived. A method for constructing robustly stabilizing quantizers is presented. Special classes of systems (linear and linearizable systems) are investigated. The proposed methods are demonstrated by designing a quantized control law to steer a unicycle type vehicle. Results are presented and discussed.
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