ISS of predictor feedback for multi-input affine nonlinear systems with distinct input delays

Xiushan Cai, Dingchao Wang, Jie Wu and Xisheng Zhan

International Journal of Systems Science, 2020, vol. 51, issue 13, 2326-2342

Abstract: We develop a predictor feedback control scheme for multi-input affine nonlinear systems with distinct input delays in each individual input channel and additive disturbances. The input-to-state stable control Lyapunov function (ISS-CLF) is used to design control laws for the delay-free affine nonlinear systems. Then, a predictor-feedback controller is constructed for this class of nonlinear systems with input delays. We establish input-to-state stability with respect to additive plant disturbances, as well as we show that the control law derives gain margin guarantees. Our proofs are based on the infinite-dimensional backstepping transformation and the construction of a Lyapunov functional. The developed method is applied to the control of vehicular traffic flow at distant bottlenecks.

Date: 2020
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DOI: 10.1080/00207721.2020.1793238

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