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Prescribed Tracking Performance under State-Feedback Quantization for Uncertain Nonlinear Systems

In this paper the problem of prescribed tracking performance for a class of nonlinear systems in the presence of uncertain dynamics and state quantization is addressed. The proposed controller is capable of not only establishing stability for the closed-loop system but also guaranteeing predefined performance bounds on the transient and steady-state error performance. The control design procedure incorporates only quantized measurements, is model-free and of low-complexity, with respect to the specifications of the quantizer employed for the output measurement. For the quantization, static uniform-hysteretic quantizers are implemented, to simplify further the control solution, and guarantee the well-posedness of the closed-loop and the chattering-free quantization performance. Simulation studies clarify all design aspects and illustrate its effectiveness.