Control and Measurement of Nonlinear Dynamic Systems over AWGN Channel with Application in Tele-operation of Autonomous Vehicles

Abstract

This paper is concerned with state tracking as well as reference tracking of noisy nonlinear dynamic systems over Additive White Gaussian Noise (AWGN) channel, which is subject to transmission noise imperfection and transmission power constraint. In order to address these problems, in this paper we implement a suitable linearization method. Using this method, we linearize the nonlinear dynamic system around working points and for linearized systems, we present proper encoder and decoder for tracking the state trajectory of nonlinear dynamic systems at the end of communication link when sensor measurements are sent through the AWGN channel subject to imperfection and constraint. The satisfactory performance of the proposed state and reference tracking techniques are illustrated via computer simulations by applying these techniques on the unicycle model, which is an abstract representation for the nonlinear dynamics of autonomous vehicles.