Controlled synchronization of discrete-time nonlinear systems under constrained communication

Consideration was given to the problem of synchronizing the master and slave nonlinear discrete systems interrelated through a communication-constrained channel. The effect of quantization error was examined, and an efficient quantization scheme was proposed such that the error of transmission vanishes under constrained communications. The desired data transmission rate was calculated. A control law such that the error of quantized synchronization is input-to-state stable with respect to the transmission error was constructed in terms of the linear matrix inequalities. The proposed scheme supports full quantized synchronization of the master and slave systems. The result obtained was exemplified by a model of simply connected flexible joint robot.