تخمین حالت دینامیک‌های غیرخطی بر روی کانال مخابراتی دیجیتال بدون نویز ظرفیت محدود: کاربرد درکنترل از راه دور وسایل نقلیه خودکار

نویسندگان

دانشکده مهندسی برق - دانشگاه صنعتی شریف - تهران

چکیده

در این مقاله، با در نظرگرفتن دینامیک‌های غیرخطی و به‌طور ویژه دینامیک پهبادهای مینیاتوری یا اتومبیل‌های خودکار به‌صورت مدل تک‌سیکله و سپس اعمال روش خطی‌سازی مناسب، به طراحی کدگذار و کدگشای مناسب پرداخته می‌شود. ازآنجایی‌که در این سیستم‌ها ردیابی مسیر حالت سیستم غیرخطی در تخمین‌زننده راه دور، از طریق ارسال داده‌های اندازه‌گیری‌شده توسط کانال مخابراتی دیجیتال ظرفیت محدود صورت می‌گیرد، نیاز به کدگذار و کدگشای مناسب است تا نواقص مخابراتی را جبران کند. در روش ارائه‌شده در این مقاله، خطی‌سازی‌ها هنگامی‌که خطای تخمین متغیرهای حالت سیستم افزایش می‌یابد، صورت می‌گیرد و در صورت کاهش خطای تخمین از خطی‌سازی صورت گرفته در مرحله قبلی استفاده می‌گردد. شبیه‌سازی‌های کامپیوتری، عملکرد مطلوب روش ارائه‌شده در این مقاله را نشان می‌دهند.

کلیدواژه‌ها


عنوان مقاله [English]

State Estimation of Nonlinear Dynamics Systems over the Digital Noiseless Channel Subject to Limited Capacity: Application in Remote Control of Autonomous Vehicles

نویسندگان [English]

  • A. Parsa
  • A. R. Farhadi
Faculty of Electrical Engineering, Sharif University of Technology, Tehran, Iran
چکیده [English]

In this paper, the nonlinear dynamics and especially the dynamics of the miniature drones or autonomous road vehicles is considered as the unicycle model; and then, by implementing a suitable linearization method, a proper encoder and decoder are designed. Since tracking the state trajectory of these nonlinear systems by remote estimator is achieved by sending measurements through the limited capacity digital noiseless channel, proper encoder and decoder are needed to compensate the effects of communication imperfections. In the method presented in this paper, linearization occurs when the state estimation error increases; and when the estimation error decreases, the previous linearized zone is used. Computer simulations illustrate the satisfactory performance of the proposed method in this paper.

کلیدواژه‌ها [English]

  • Networked control system
  • nonlinear dynamics
  • the digital noiseless channel
  • autonomous vehicles
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