Prescribed Performance Control for Nonlinear Systems with Input Quantization: A Fully Actuated System Approach

This study addresses the tracking control problem for nonlinear systems with input quantization through the highorder fully actuated (HOFA) system approach. Through the construction of a series of functional transformations, the proposed control framework maintains a fixed structure while achieving diverse prescribed performance behaviors through simple parameter adjustments. Then the original nonlinear system is transformed into the representation of HOFA system, and the control law is established on this basis. According to Lyapunov stability analysis, it is shown that the proposed controller guarantees both the boundedness of all closed-loop signals and the global/semiglobal asymmetric performance specifications. The simulation study validate the effectiveness of the proposed control strategy.