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Adaptive Control with Quantized Inputs Processed by Lipschitz Logarithmic Quantizer

Guanghao Zhang, Xin Huo*, Jinkun Liu, and Kemao Ma
International Journal of Control, Automation, and Systems, vol. 19, no. 2, pp.921-930, 2021

Abstract : In this paper, the design of adaptive control for a class of control systems with quantized inputs is investigated. According to the stability analysis result of adaptive control design, the quantized errors act as a great potential unstable risk for a class of sophisticated multi-channel system with quantized inputs. Thus, we establish Lipschitz logarithmic quantizer considering package loss problem in data transmission to eliminate quantized errors, and the superiority of this new quantizer is then proved by the asymptotically convergent mathematic expectation of quantized errors. Especially, a typical under-actuated multi-channel system, quadrotor UAV, is introduced to exhibit the effectiveness of the whole control scheme and the advancement compared with previous quantized control designs.

Keyword : Adaptive control, data package loss, Lipschitz logarthmic quantizer, quadrotor UAV, quantized inputs

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