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

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.