Adaptive Tracking Control for Nonlinear Fully Actuated Systems With Input Quantization

In this paper, we investigate the tracking issue for fully actuated systems (FASs) with parameter uncertainties and input quantization. Different from models of the existing adaptive control for FASs, the input matrix herein incorporates uncertain parameters. By utilizing the full-actuation properties, straightforward adaptive state feedback controllers can be implemented in the trajectory tracking of single-order and multi-order FASs, ensuring that the tracking error can converge to an arbitrarily small vicinity of the origin. The simulations of mass-spring-damper systems and permanent magnet synchronous motors (PMSM) validate the effectiveness of the given method.