Adaptive Backstepping Control of Uncertain Nonlinear Systems With Input and State Quantization

Although it is common in network control systems that the sensor and control signals are transmitted via a common communication network, no result is available in investigating the stabilization problem for uncertain nonlinear systems with both input and state quantization. The issue is solved in this article, by presenting an adaptive backstepping based control algorithm for the systems with sector bounded input/state quantizers. In addition to overcome the difficulty to proceed recursive design of virtual controls with quantized states, the relation between the input signal and error state need be well established to handle the effects due to input quantization. It is shown that all closed-loop signals are ensured uniformly bounded and all states will converge to a compact set. Experimental results are provided to validate the effectiveness of the proposed control scheme.

I. Introduction

Quantized control has attracted considerable attention in recent years, due to its theoretical and practical importance in network control systems [1], [2]. A great number of representative results have been reported on analysis and control of quantized feedback systems, as can be observed in [3]–[11] [18], and [19]. However, most of the results are concerned with either input quantization or state quantization.