Quantized feedback control strategy for tracking performance guarantee of nonholonomic mobile robots with uncertain nonlinear dynamics

作者：

Highlights：

• A quantized feedback low-complexity tracker is presented for uncertain mobile robots with state and input quantization.

• Any adaptive mechanisms are not required to compensate for nonlinear dynamic uncertainties.

• The closed-loop stability is analyzed with the predesignated performance guarantee.

摘要

•A quantized feedback low-complexity tracker is presented for uncertain mobile robots with state and input quantization.•Any adaptive mechanisms are not required to compensate for nonlinear dynamic uncertainties.•The closed-loop stability is analyzed with the predesignated performance guarantee.

论文关键词：State quantization,Quantized feedback design,Predesignated performance guarantee,Nonholonomic mobile robots,Uncertain nonlinear dynamics

论文评审过程：Received 24 December 2020, Revised 15 April 2021, Accepted 2 May 2021, Available online 18 May 2021, Version of Record 18 May 2021.

论文官网地址：https://doi.org/10.1016/j.amc.2021.126349