Observer-based quantized control of nonlinear systems with input saturation

Abstract

This paper deals with the problem of observer-based quantized control of nonlinear systems subject to actuator saturation and bounded disturbances. The nonlinearity is assumed to satisfy the local Lipschitz condition and appear in the state equation. Attention is focused on the design of an observer-based controller such that the resulting closed-loop system is convergent to a minimal ellipsoid for every initial condition emanating from a large admissible domain. The admissible Lipschitz constant, the disturbance attenuation level, and admissible domains are obtained through a convex optimization problem. A sufficient condition for the existence of quantized observers guarantees asymptotic stability for the resulting error dynamical system. Finally, illustrative examples are provided to demonstrate the effectiveness of the proposed approach.