Predictor-based anti-disturbance tracking control for non-linear input time-delay control systems
In this study, a generalized extended state observer-Smith predictor (GESO-SP)-based anti-disturbance tracking control strategy is developed for a class of nonlinear systems with input time delays, aiming to improve closed-loop tracking performance. First, a GESO and Smith predictor-based internal model controller is designed to mitigate the effects of lumped disturbances and input time delays, thereby ensuring the desired tracking objectives. The lumped disturbances account for system uncertainties arising from unmodeled dynamics, uncertain parameters, and other unspecified nonlinearities.\N\NConsequently, disturbance rejection and delay compensation are addressed simultaneously through the proposed GESO-SP-based control framework. Furthermore, sufficient conditions for guaranteeing the asymptotic stability of the closed-loop system are derived in terms of linear matrix inequality (LMI) constraints by constructing an appropriate Lyapunov-Krasovskii functional. Numerical simulations using a second-order system are carried out to demonstrate the effectiveness of the proposed GESO-SP-based tracking controller in achieving improved output tracking performance while overcoming the adverse effects of disturbances and input time delays.\N\NFinally, the authors intend to extend the proposed GESO-SP-based tracking approach to switched networked control systems subject to faults, time-varying delays, and network-induced constraints, by exploiting modified Smith predictor techniques and event-triggered control mechanisms.
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