Stabilization of Unmanned Air Vehicles over Wireless Communication Channels

Abstract

Abstrak IntroductionThe research on networked control systems has received resurgent interests in recent years [1][2][3]. Some salient examples include unmanned air vehicles (UAVs), unmanned ground vehicles (UGVs), and unmanned underwater vehicles (UUVs) [4][5][6]. The presence of such digital and wireless communication channels which connect the sensor and the controller or the actuator and the controller brings up many challenges, and makes some traditional control approaches inapplicable or inefficient.One of the earliest papers on the topic is [7], where a weaker stability concept called containability was introduced, and the issue of coding and communication protocol became an integral part of the analysis. The research on stabilization of linear time-invariant systems with limited data rate was addressed. The fundamental problem of finding the lower bound on the data rate for stabilization was solved in [8][9][10]. There has been a lot of new interest in quantized feedback control where the measurements are quantized, coded and transmitted over a digital communication channel. A fundamental problem is how to design a quantization, coding and control scheme in order to achieve some given control performances.The research on quantized feedback control can be categorized depending on whether the quantizer is static or dynamic. Static quantizers were employed in [11][12][13]. In particular, it was shown in [8] that the coarsest quantizer is logarithmic. The results were generalized in [13] to a number of output feedback problems using a sector bound approach. Furthermore, dynamic quantizers were employed in [14][15][16][17][18]. It was shown in [14] that stabilization of a singleinput single-output (SISO) linear time-invariant (LTI) system could be achieved by employing only a finite number of quantization levels. It was shown in [15] that a feedback policy could be designed to bring the closed-loop state arbitrarily close to zero for an arbitrarily long time by employing a quantizer with various sensitivity.We addressed the observer-based, dynamic state feedback stabilization problem for

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“…Liu and Yang investigated quantized control problems for linear time-invariant systems over a noiseless communication network [13]. Furthermore, Liu addressed coordinated motion control of autonomous and semiautonomous mobile agents in [14], and derived the condition on stabilization of unmanned air vehicles over wireless communication channels in [15].…”

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“…Liu and Yang investigated quantized control problems for linear time-invariant systems over a noiseless communication network [13]. Furthermore, Liu addressed coordinated motion control of autonomous and semiautonomous mobile agents in [14], and derived the condition on stabilization of unmanned air vehicles over wireless communication channels in [15].For the multi-state case, one needs to present an optimal bit-allocation algorithm to regulate the transmission of information about each mode such that stabilization can be guaranteed for all modes. In the literature, the bit-allocation algorithms were on the basis of the eigenvalues of…”