Delta-Modulator-Based Quantised Output Feedback Controller for Linear Networked Control Systems

Abstract

This paper proposes a ∆-Modulator (∆-M) based quantised output feedback controller for linear networked systems. The proposed ∆-M is essentially a 2-level quantiser, in contrast to some of the existing quantisers such as 2 p level (p ≥ 1) uniform-interval-nearest-neighbour quantiser, and offers various advantages which include lower design complexity, less noisy and lower cost. The three key components of the control system: the controller, the filter and the quantiser are designed to achieve the desired performance. The stability conditions of the ∆-M are derived and conditions for the existence of zigzag behaviour in steady-state are determined. The performance of the proposed controller is illustrated through simulations considering practical communication network based on ZigBee protocol. The results of the simulation demonstrate that the proposed controller could effectively achieve desired performance under various imperfections of the practical communication network. INDEX TERMS ∆-Modulation, Quantised Control, Networked Control Systems (NCS), Output Feedback Control.

Robust Control of Autonomous Underwater Vehicles Using Delta-Sigma-Based 1-bit Controllers

“…There are several 1-bit quantisers, such as Delta-Sigma Modulator, Sigma-Delta Modulator, Delta-Modulator, and Hybrid-Delta Modulator [11], [27]- [31]. These 1-bit quantisers are integrated with different control strategies to form 1-bit controllers, which are also referred as bit-stream controllers [32], [33]. Despite the fact that these types of modulators consume significantly less hardware resources and could minimise the quantisation error, this study focuses on Delta-Sigma modulator based controllers following from their excellent anti-aliasing capabilities and high resolution [30].…”