Time-Varying Input and State Delay Compensation for Uncertain Nonlinear Systems
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Publication:2980656
DOI10.1109/TAC.2015.2451472zbMATH Open1359.93415arXiv1501.03810MaRDI QIDQ2980656FDOQ2980656
N. Fischer, Warren E. Dixon, Rushikesh Kamalapurkar, Serhat Obuz
Publication date: 3 May 2017
Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)
Abstract: A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An integral term composed of previous control values facilitates a delay-free open-loop error system and the development of the feedback control structure. A stability analysis based on Lyapunov-Krasovskii (LK) functionals guarantees uniformly ultimately bounded tracking under the assumption that the delays are bounded and slowly varying.
Full work available at URL: https://arxiv.org/abs/1501.03810
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