Extended prescribed performance control with input quantization for nonlinear systems

• For a class of MIMO nonlinear systems, comprised of interconnected subsystems in Brunovsky canonical form, with uncertain yet locally Lipschitz nonlinearities among subsystems and quantized inputs, the target is to form a closed-loop system that exhibits extended prescribed performance on states tracking (accuracy determined by maximum overshoot, minimum convergence rate, maximum steady-state error, and control gains), yet still a low-complexity control structure, without requiring any identification, approximation, and filtering techniques, regardless of uncertainties. In this article, a static, decentralized, continuous, yet computationally inexpensive controller is designed, without requiring parameters of quantizers. Inheriting the merit of pioneering prescribed performance control (PPC) methodology, it is required that the reference signal is (Formula presented.) function only, while, an essential difference and new feature is that, the pioneering PPC guarantees that state tracking errors are constrained by boundary functions (also known as prescribed performance functions, PPFs) only, while, the proposed extend PPC scheme achieves that state tracking errors are constrained by boundary functions and control gains simultaneously, in other words, without “tighter” PPFs, state tracking errors can still be adjusted to arbitrarily small by choosing proper control gains. Finally, comparative simulation results are given to verify the theoretical findings. 

Subject headings

NATURVETENSKAP  -- Matematik -- Sannolikhetsteori och statistik (hsv//swe)

NATURAL SCIENCES  -- Mathematics -- Probability Theory and Statistics (hsv//eng)

NATURVETENSKAP  -- Fysik -- Atom- och molekylfysik och optik (hsv//swe)

NATURAL SCIENCES  -- Physical Sciences -- Atom and Molecular Physics and Optics (hsv//eng)

NATURVETENSKAP  -- Fysik -- Den kondenserade materiens fysik (hsv//swe)

NATURAL SCIENCES  -- Physical Sciences -- Condensed Matter Physics (hsv//eng)

Keyword

input quantization

nonlinear system

prescribed performance control

Closed loop control systems

Errors

Boundary function

Control gains

Interconnected subsystems

MIMO nonlinear systems

Performance control

Performance functions

Prescribed performance

Quantisation

State tracking

Tracking errors

Nonlinear systems

Publication and Content Type

ref (subject category)

art (subject category)