Optimal Input and Quantization Interval for Quantized Feedback System With Variable Quantizer
Optimal Input and Quantization Interval for Quantized Feedback System With Variable Quantizer
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DOI：
10.1109/tie.2016.2625240
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发表时间：
2017-03
影响因子：
7.7
通讯作者：
T. Zanma;Makoto Azegami;Kang‐Zhi Liu
中科院分区：
文献类型：
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作者：
T. Zanma;Makoto Azegami;Kang‐Zhi Liu
网络化控制系统在机器人遥操作、外科手术等领域得到了广泛的关注。在NCS中，重要的是压缩在有限的通信网络上传输的数据，同时保留控制所需的数据。我们解决了一个量化的反馈系统中，一个植物的输出是量化的可变量化间隔。对于这样的系统，我们提出了一种新的最优量化反馈控制。所提出的方法不仅得到一个最佳的输入，但也在量化器中的最佳量化间隔同时使用模型预测控制。该方法还满足对状态、输入和量化间隔的约束。通过小车定位实验验证了该方法的有效性。
Networked control systems (NCSs) have received much attention in the field of robot teleoperation, telesurgery, and other applications. In an NCS, it is important to compress data transmitted over a limited communication network while preserving the data required for control. We address a quantized feedback system in which the output of a plant is quantized with a variable quantization interval. For such a system, we present a novel optimal quantized feedback control. The proposed approach derives not only an optimal input, but also an optimal quantization interval in the quantizer simultaneously using the model predictive control. The approach also satisfies constraints on the state, input, and quantization interval. The effectiveness of the proposed approach is validated through cart-positioning experiments.