Reference input and hysteresis quantizer based triggered control for networked control systems over limited channels

Abstract

Abstract In this article, we formulate a framework for the networked control systems over limited channels with a novel reference input and hysteresis quantizer based triggered control (RIHQBTC) method. Both hysteresis quantization and the network induced delay are considered and the finite‐gain stability is analyzed. By thoroughly exploring the structure of the hysteresis quantizer, we merge the hysteresis quantizer parameter with the reference input to construct the triggering condition. To compensate for the negative effect caused by the network induced delay, three kinds of local controllers are designed to connect the transformed controller with the original one. Moreover, the corresponding coders and decoders are proposed to bound the transmission bit rates. With this RIHQBTC method, it is proved that Zeno behavior could be intrinsically eliminated. The superiority of the proposed method is demonstrated by a numerical example and its efficiency is further verified on the wheeled mobile robot.