Optimisation of dynamic quantisation and control for quantised state feedback control system

The Journal of Engineering

Kang Zhi Liu¹  Atsuki Tokunaga¹  Kenta Koiwa¹  Tadanao Zanma¹  Than Zaw Soe¹ 

[1] Chiba University;

关键词: optimisation;    predictive control;    quantisation (signal);    networked control systems;    state feedback;    discrete time systems;    telerobotics;    telecommunication control;    quantisation interval;    dynamic quantisers;    control input;    traffic limitation;    traffic limit;    communication network;    networked control systems;    quantised state feedback control system;    dynamic quantisation;   

DOI  :  10.1049/joe.2019.0890

来源: DOAJ

【 摘 要 】

Networked control systems (NCSs) are control systems closed through communication network and applied to remote control of robots, tele-surgery and numerous industrial applications. In NCS, data have to coarsely quantised when the communication network is restricted due to the traffic limit. Under the traffic limitation, the design of an appropriate quantiser is highly important in realising a desired control performance. Further, the coordination of quantisation and control input also plays a decisive role. Towards an optimal balance between the traffic capacity of network and the control performance, this study proposes an MPC based approach for quantised state feedback control systems with dynamic quantisers. In the proposed approach, the control input and the quantisation interval of the quantiser are optimised online. The proposed method can explicitly treat input/state constraints, the parameter of quantiser and other physical restriction. The effectiveness of the proposed method is demonstrated by simulations and experiments.

【 授权许可】

Unknown