Inverse optimal design of input-to-state stabilisation for affine nonlinear systems with input delays

Xiushan Cai, Lingxin Meng, Wei Zhang and Leipo Liu

International Journal of Systems Science, 2018, vol. 49, issue 4, 833-847

Abstract: We establish robustness of the predictor feedback control law to perturbations appearing at the system input for affine nonlinear systems with time-varying input delay and additive disturbances. Furthermore, it is shown that it is inverse optimal with respect to a differential game problem. All of the stability and inverse optimality proofs are based on the infinite-dimensional backstepping transformation and an appropriate Lyapunov functional. A single-link manipulator subject to input delays and disturbances is given to illustrate the validity of the proposed method.

Date: 2018
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DOI: 10.1080/00207721.2018.1425507

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