Abstract
In this paper, we present an algorithm that achieves global asymptotic stability for a broad class of driftless nonholonomic systems using limited data rate. Moreover, we prove in a constructive way that the minimum data-rate for this class of systems is zero, hence providing a data-rate theorem, which was an open problem in the literature Li and Baillieul (2004). Finally, we present the Dubin's car as an example of system in such a class.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 211-216 |
| Number of pages | 6 |
| Journal | IFAC-PapersOnLine |
| Volume | 52 |
| Issue number | 20 |
| DOIs | |
| State | Published - 2019 |
| Event | 8th IFAC Workshop on Distributed Estimation and Control in Networked Systems, NECSYS 2019 - Chicago, United States Duration: Sep 16 2019 → Sep 17 2019 |
Keywords
- Control under communication constraints
ASJC Scopus subject areas
- Control and Systems Engineering