Optimal Input and Quantization Interval for Quantized Feedback System With Variable Quantizer

摘要

Networked control systems (NCSs) have received much attention in the field of robot teleoperation, telesurgery, and other applications. In an NCS, it is important to compress data transmitted over a limited communication network while preserving the data required for control. We address a quantized feedback system in which the output of a plant is quantized with a variable quantization interval. For such a system, we present a novel optimal quantized feedback control. The proposed approach derives not only an optimal input, but also an optimal quantization interval in the quantizer simultaneously using the model predictive control. The approach also satisfies constraints on the state, input, and quantization interval. The effectiveness of the proposed approach is validated through cart-positioning experiments.