On the reachability of quantized control systems
- 7 August 2002
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 47 (4) , 546-563
- https://doi.org/10.1109/9.995034
Abstract
In this paper, we study control systems whose input sets are quantized, i.e., finite or regularly distributed on a mesh. We specifically focus on problems relating to the structure of the reachable set of such systems, which may turn out to be either dense or discrete. We report results on the reachable set of linear quantized systems, and on a particular but interesting class of nonlinear systems, i.e., nonholonomic chained-form systems. For such systems, we provide a complete characterization of the reachable set, and, in case the set is discrete, a computable method to completely and succinctly describe its structure. Implications and open problems in the analysis and synthesis of quantized control systems are addressed.Keywords
This publication has 24 references indexed in Scilit:
- Conversion of the kinematics of a car with n trailers into a chained formPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Topological property for collision-free nonholonomic motion planning: the case of sinusoidal inputs for chained form systemsIEEE Transactions on Robotics and Automation, 1998
- Nonholonomic mechanical systems with symmetryArchive for Rational Mechanics and Analysis, 1996
- Developments in nonholonomic control problemsIEEE Control Systems, 1995
- Control of systems without drift via generic loopsIEEE Transactions on Automatic Control, 1995
- Exponential stabilization of nonholonomic chained systemsIEEE Transactions on Automatic Control, 1995
- Control of chained systems application to path following and time-varying point-stabilization of mobile robotsIEEE Transactions on Automatic Control, 1995
- Nilpotent bases for a class of nonintegrable distributions with applications to trajectory generation for nonholonomic systemsMathematics of Control, Signals, and Systems, 1994
- Controllability and observability of simple hybrid control systems - FDLTI plants with symbolic measurements and quantized control inputsPublished by Institution of Engineering and Technology (IET) ,1994
- Nonholonomic motion planning: steering using sinusoidsIEEE Transactions on Automatic Control, 1993