Quantized stabilizing control of state-dependent switching affine systems with control-input and state-measurement quantization

This paper addresses stability analysis and quantized stabilization of discrete-time state-dependent switching affine systems with quantized control inputs and state measurements. The employed controller is in a mode-dependent affine form to improve the adaptation to the mode of the controlled system and then to acquire less conservative results. The quantization scheme is considered to be logarithmic and synchronized with the mode switching of the switching affine system and the controller. Aiming at achieving lower conservative criteria, a mode-dependent Lyapunov function incorporating quantization uncertainties is constructed. Correspondingly, the stability analysis and the stabilizing control synthesis are implemented. In the end, the proposed quantized control strategy is applied to a vehicle path-following problem to exemplify its effectiveness and robustness against data quantization in control inputs and state measurements.