Prescribed Performance Control of Multi-Input Multi-Output Nonlinear Systems With Input Quantization

This paper explores the problem of tracking control with prescribed performance for a class of uncertain multi-input multi-output nonlinear systems with input quantization. A prescribed performance controller is designed to solve the problem. The convergence rate and the tracking accuracy are predefined by performance functions, and the constraints of the tracking errors are guaranteed by barrier Lyapunov functions. A simple input quantizer is designed to quantize the control inputs. The proposed control strategy ensures that all the tracking errors meet the prescribed performance requirements and all the closed- loop signals are bounded. The simulation results are given to illustrate the established theoretical findings.