This paper proposes a robust compensator for a class of uncertain nonlinear systems subjected to unknown time-varying input delay. The proposed control law is based on the integral of past values of control and a novel filtered tracking error. Sufficient gain conditions dependent on the known bound of the delay are derived using a Lyapunov-based stability analysis, where Lyapunov–Krasovskii (LK) functionals are used to achieve a global uniformly ultimately bounded (GUUB) tracking result. Simulation results for a nonlinear system are used to evaluate the performance and robustness of the controller for different values of time-varying input delay.
A Robust Delay Compensator for Uncertain Nonlinear Systems With Unknown Time-Varying Input Delay
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received February 6, 2018; final manuscript received June 20, 2019; published online July 19, 2019. Assoc. Editor: Umesh Vaidya.
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Kumar Jain, A., and Bhasin, S. (July 19, 2019). "A Robust Delay Compensator for Uncertain Nonlinear Systems With Unknown Time-Varying Input Delay." ASME. J. Dyn. Sys., Meas., Control. November 2019; 141(11): 114501. doi: https://doi.org/10.1115/1.4044179
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