Adaptive Robust Control for a Class of Uncertain Nonlinear System with Input and State Quantization

Abstract

In this paper, we present an adaptive robust control scheme for a class of uncertain nonlinear system with both uncertain parameters and disturbance under state and input quantization. The quantizers can be any form of uniform quantizers or logarithmic quantizers as long as the quantization error satisfies the sector-bounded condition. In the designed control law, the state quantization error is regard as un-modeled dynamic and compensated by an addition feedback term. Both theoretic and simulation results show that under the designed controller, in spite of uncertainties and quantization, all signal is bounded and the outputs of the system track the reference command with tracking errors in relation to quantization density.