4.8 Article

Adaptive Attitude Control of a Rigid Body With Input and Output Quantization

Journal

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 69, Issue 8, Pages 8296-8305

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2021.3105999

Keywords

Quantization (signal); Quaternions; Attitude control; Backstepping; Stability analysis; Helicopters; Matrix decomposition; Adaptive control; attitude control; backstepping; quantization; rigid body

Funding

  1. IKTPLUSS DEEPCOBOT Project under Research Council of Norway [306640/O70]

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This article investigates the adaptive attitude-tracking problem of a rigid body with input and output transmitted via a network. To reduce the communication burden, a quantizer is introduced in both uplink and downlink communication channels. An adaptive backstepping-based control scheme is developed for multiple-input and multiple-output (MIMO) rigid body systems. The proposed control algorithm overcomes the difficulty of recursive design with quantized output vector and introduces a new approach to stability analysis. Experimental results demonstrate the effectiveness of the proposed control scheme on a 2 degrees-of-freedom helicopter system.
In this article, the adaptive attitude-tracking problem of a rigid body is investigated, where the input and output are transmitted via a network. To reduce the communication burden in a network, a quantizer is introduced in both uplink and downlink communication channels. An adaptive backstepping-based control scheme is developed for a class of multiple-input and multiple-output (MIMO) rigid body systems. The proposed control algorithm can overcome the difficulty to proceed with the recursive design of virtual controls with quantized output vector, and a new approach to stability analysis is developed by constructing a new compensation scheme for the effects of the vector output quantization and input quantization. It is shown that all closed-loop signals are ensured uniformly bounded and the tracking errors converge to a compact set containing the origin. Experiments on a 2 degrees-of-freedom helicopter system illustrate the effectiveness of the proposed control scheme.

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