Robust tracking control for a class of multivariable nonlinear systems with input quantization

In this paper, a robust tracking control approach is proposed for a class of multivariable nonlinear systems with input quantization. Based on the standard backstepping approach and the hyperbolic tangent function property, a robust quantized controller is constructed. This effort proves that with the proposed controller, all the signals of closed-loop system are globally uniformly bounded and the tracking errors can be steered to or within arbitrarily small vicinity of the origin.