Adaptive non-predictor control of lower triangular uncertain nonlinear systems with an unknown time-varying delay in the input

Min-Sung Koo and Ho-Lim Choi

International Journal of Systems Science, 2018, vol. 49, issue 1, 124-131

Abstract: In this paper, we consider a control problem for a class of uncertain nonlinear systems in which there exists an unknown time-varying delay in the input and lower triangular nonlinearities. Usually, in the existing results, input delays have been coupled with feedforward (or upper triangular) nonlinearities; in other words, the combination of lower triangular nonlinearities and input delay has been rare. Motivated by the existing controller for input-delayed chain of integrators with nonlinearity, we show that the control of input-delayed nonlinear systems with two particular types of lower triangular nonlinearities can be done. As a control solution, we propose a newly designed feedback controller whose main features are its dynamic gain and non-predictor approach. Three examples are given for illustration.

Date: 2018
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DOI: 10.1080/00207721.2017.1390705

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