Combining Prescribed Tracking Performance and Controller Simplicity for a Class of Uncertain MIMO Nonlinear Systems With Input Quantization

Abstract

For the class of multi-input multi-output nonlinear systems, comprised of fully interconnected strict-feedback subsystems, having uncertain, though locally Lipschitz nonlinearities and input quantization equipped with a hysteretic property, the objective is to construct a closed-loop system that combines prescribed, output trajectory tracking performance attributes (maximum overshoot, minimum convergence rate, maximum steady-state error), and a low-complexity control solution. In this paper, the task is succeeded by designing a state-feedback controller that is not only structurally and computationally simple, but additionally it is decentralized and requires knowledge of the desired output trajectories only at each time instant. Further, no time derivatives of the output references are utilized. The aforementioned functionalities are achieved irrespectively of the quantization parameters, which besides being unknown, are considered as piecewise constant functions of time. Simulations are provided to verify and clarify the theoretical findings.