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


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    Titel :

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


    Beteiligte:

    Erscheinungsdatum :

    2021-01-01


    Anmerkungen:

    cristin:1930830
    IEEE transactions on industrial electronics (1982. Print)


    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629




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