Quantized Sampled-Data Attitude Control of Ground Vehicles: An Event-Based Approach

Abstract

Attitude control systems for ground vehicles have been an important topic in automotive research for decades, and have been extensively studied by resorting to classical continuous-time nonlinear design. Although this approach can incorporate saturation constraints and actuator dynamics in the design, the computed control laws are often approximated and applied within digital environments in absence of formal performance guarantees. In this work, we present a quantized sampled-data approach to the vehicle attitude control problem. Starting from classical nonlinear design achieving tracking of prescribed trajectories in continuous time (emulation approach), we derive conditions for preserving the practical stability of the error dynamics by means of quantized sampled-data event-based controllers. Simulations performed in an non-ideal setting confirm the potential of the approach.