Optimisation of dynamic quantisation and control for quantised state feedback control system

摘要

Networked control systems (NCSs) are control systems closed through communication network and applied to remote control of robots, tele‐surgery and numerous industrial applications. In NCS, data have to coarsely quantised when the communication network is restricted due to the traffic limit. Under the traffic limitation, the design of an appropriate quantiser is highly important in realising a desired control performance. Further, the coordination of quantisation and control input also plays a decisive role. Towards an optimal balance between the traffic capacity of network and the control performance, this study proposes an MPC based approach for quantised state feedback control systems with dynamic quantisers. In the proposed approach, the control input and the quantisation interval of the quantiser are optimised online. The proposed method can explicitly treat input/state constraints, the parameter of quantiser and other physical restriction. The effectiveness of the proposed method is demonstrated by simulations and experiments.