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Approximation-Based Quantized State Feedback Tracking of Uncertain Input-Saturated MIMO Nonlinear Systems with Application to 2-DOF Helicopter

Author

Listed:
  • Byung Mo Kim

    (School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul 06974, Korea)

  • Sung Jin Yoo

    (School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul 06974, Korea)

Abstract

This paper addresses an approximation-based quantized state feedback tracking problem of multiple-input multiple-output (MIMO) nonlinear systems with quantized input saturation. A uniform quantizer is adopted to quantize state variables and control inputs of MIMO nonlinear systems. The primary features in the current development are that (i) an adaptive neural network tracker using quantized states is developed for MIMO nonlinear systems and (ii) a compensation mechanism of quantized input saturation is designed by constructing an auxiliary system. An adaptive neural tracker design with the compensation of quantized input saturation is developed by deriving an augmented error surface using quantized states. It is shown that closed-loop stability analysis and tracking error convergence are conducted based on Lyapunov theory. Finally, we give simulation and experimental results of the 2-degrees-of-freedom (2-DOF) helicopter system for verifying to the validity of the proposed methodology where the tracking performance of pitch and yaw angles is measured with the mean squared errors of 0.1044 and 0.0435 for simulation results, and those of 0.0656 and 0.0523 for experimental results.

Suggested Citation

  • Byung Mo Kim & Sung Jin Yoo, 2021. "Approximation-Based Quantized State Feedback Tracking of Uncertain Input-Saturated MIMO Nonlinear Systems with Application to 2-DOF Helicopter," Mathematics, MDPI, vol. 9(9), pages 1-16, May.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:9:p:1062-:d:551073
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    References listed on IDEAS

    as
    1. Li-Juan Liu & Jing Zhou & Changyun Wen & Xudong Zhao, 2017. "Robust adaptive tracking control of uncertain systems with time-varying input delays," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(16), pages 3440-3449, December.
    2. Yekai Yang & Zhaoxu Yu & Shugang Li, 2018. "Adaptive output feedback quantised tracking control for stochastic nonstrict-feedback nonlinear systems with input saturation," International Journal of Systems Science, Taylor & Francis Journals, vol. 49(15), pages 3130-3145, November.
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