10 research outputs found
Minimal data rate stabilization of nonlinear systems over networks with large delays
Control systems over networks with a finite data rate can be conveniently
modeled as hybrid (impulsive) systems. For the class of nonlinear systems in
feedfoward form, we design a hybrid controller which guarantees stability, in
spite of the measurement noise due to the quantization, and of an arbitrarily
large delay which affects the communication channel. The rate at which feedback
packets are transmitted from the sensors to the actuators is shown to be
arbitrarily close to the infimal one.Comment: 16 pages; references have now been adde
Global stabilization of feedforward systems under perturbations in sampling schedule
For nonlinear systems that are known to be globally asymptotically
stabilizable, control over networks introduces a major challenge because of the
asynchrony in the transmission schedule. Maintaining global asymptotic
stabilization in sampled-data implementations with zero-order hold and with
perturbations in the sampling schedule is not achievable in general but we show
in this paper that it is achievable for the class of feedforward systems. We
develop sampled-data feedback stabilizers which are not approximations of
continuous-time designs but are discontinuous feedback laws that are
specifically developed for maintaining global asymptotic stabilizability under
any sequence of sampling periods that is uniformly bounded by a certain
"maximum allowable sampling period".Comment: 27 pages, 5 figures, submitted for possible publication to SIAM
Journal Control and Optimization. Second version with added remark
Minimal data rate stabilization of nonlinear systems over networks with large delays
Control systems over networks with a finite data rate can be conveniently modeled as hybrid (impulsive) systems. For the class of nonlinear systems in feedfoward form, we design a hybrid controller, which guarantees stability, in spite of the measurement noise due to the quantization, and of an arbitrarily large delay, which affects the communication channel. The rate at which feedback packets are transmitted from the sensors to the actuators is shown to be arbitrarily close to the infimal one.