In this paper, the adaptive attitude tracking the 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. ; acceptedVersion
Adaptive Attitude Control of a Rigid Body with Input and Output Quantization
2021-01-01
cristin:1930830
IEEE transactions on industrial electronics (1982. Print)
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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