This paper investigates the problem of control with prescribed performance tracking for a class of nonlinear systems in the presence of quantized input. A novel state feedback control scheme by self-scrambling gain is proposed, with the first merit that it is computationally inexpensive, since no linearly-parameterized approximators are used, and the second merit that it is self-adjustable with respect to different levels of tracking errors. Based on a smoothly transformed error variables, the output and virtual tracking errors are guaranteed to converge to some predefined arbitrarily small residual sets regardless of transient and steady bounds. The closed-loop system is proved by rigorously mathematical derivation to be globally stable, and two comparative illustrative examples are given to demonstrate the advantages and effectiveness of the proposed method.

本文研究了存在量化输入的一类非线性系统的具有规定性能跟踪的控制问题。提出了一种通过自扰增益的新型状态反馈控制方案，其第一个优点是计算量小，因为不使用线性参数化的近似器，第二个优点是可以针对不同的跟踪级别进行自我调整错误。基于平滑变换的误差变量，无论瞬态和稳定范围如何，都可以确保输出和虚拟跟踪误差收敛到一些预定义的任意小的残差集。严格的数学推导证明了闭环系统是全局稳定的，