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Quantized feedback control strategy for tracking performance guarantee of nonholonomic mobile robots with uncertain nonlinear dynamics

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  • Yoo, Sung Jin
  • Park, Bong Seok

Abstract

This paper discusses a quantized feedback tracker design problem of nonholonomic mobile robots with uncertain nonlinear dynamics in a network environment with state and input quantization. Quantized state feedback information of mobile robots is only used for the tacker design. Compared with existing control approaches for uncertain nonholonomic mobile robots, the primary contribution of our study is to develop quantized-states-based low-complexity tracking and stability methodologies for ensuring the predesignated performance of tracking errors. A robust tracking scheme using quantized state variables is designed without any adaptive mechanisms to compensate for nonlinear dynamic uncertainties. The boundedness of the quantization errors of the closed-loop signals is derived from a theoretical lemma. Using this lemma, the closed-loop stability is analyzed with the predesignated performance guarantee of tracking errors in the Lyapunov sense. A robot simulation verifies the resulting theoretical tracking strategy.

Suggested Citation

  • Yoo, Sung Jin & Park, Bong Seok, 2021. "Quantized feedback control strategy for tracking performance guarantee of nonholonomic mobile robots with uncertain nonlinear dynamics," Applied Mathematics and Computation, Elsevier, vol. 407(C).
    • Handle: RePEc:eee:apmaco:v:407:y:2021:i:c:s0096300321004380
    DOI: 10.1016/j.amc.2021.126349
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    References listed on IDEAS

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    1. Chang, Xiao-Heng & Li, Zhi-Min & Xiong, Jun & Wang, Yi-Ming, 2017. "LMI approaches to input and output quantized feedback stabilization of linear systems," Applied Mathematics and Computation, Elsevier, vol. 315(C), pages 162-175.
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    Cited by:

    1. Wang, Wei & Xie, Xiangpeng & Feng, Changyang, 2022. "Model-free finite-horizon optimal tracking control of discrete-time linear systems," Applied Mathematics and Computation, Elsevier, vol. 433(C).
    2. Amin Taghieh & Ardashir Mohammadzadeh & Jafar Tavoosi & Saleh Mobayen & Thaned Rojsiraphisal & Jihad H. Asad & Anton Zhilenkov, 2021. "Observer-Based Control for Nonlinear Time-Delayed Asynchronously Switching Systems: A New LMI Approach," Mathematics, MDPI, vol. 9(22), pages 1-25, November.
    3. Miranda-Colorado, Roger, 2022. "Observer-based proportional integral derivative control for trajectory tracking of wheeled mobile robots with kinematic disturbances," Applied Mathematics and Computation, Elsevier, vol. 432(C).
    4. Xiongfeng Deng & Jiakai Wang, 2022. "Fuzzy-Based Adaptive Dynamic Surface Control for a Type of Uncertain Nonlinear System with Unknown Actuator Faults," Mathematics, MDPI, vol. 10(10), pages 1-21, May.

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