Adaptive Control for Fully Actuated Systems with Input Quantization

In this paper, we study the fully actuated systems (FASs) with unknown parameters where the control input takes quantized values. It is shown that, compared with early works, the adaptive control law is much easier to design and no longer limited to the single-input systems by utilizing the full-actuation property. The system state can converge to an arbitrarily small neighborhood of the origin with a hysteretic quantizer which can be very coarse. An illustrative example demonstrates the effectiveness of the given method.