Global Stabilization of Triangular Systems with Time-Delayed Dynamic Input Perturbations
It provides a theoretical solution for stabilizing complex nonlinear systems with dynamic input uncertainties and time delays, which is a challenging problem in control theory.
The paper develops a globally stabilizing robust adaptive output-feedback controller for a broad class of uncertain nonlinear systems with time-delayed dynamic input perturbations, addressing strict-feedback-like structures with unmodeled dynamics and time-varying delays.
A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal uncertain strict-feedback-like subsystem, the input signal to which is generated by an uncertain nonlinear input unmodeled dynamics that is driven by the entire system state (including unmeasured state variables) and is also allowed to depend on time delayed versions of the system state variable and control input signals. The system also includes additive uncertain nonlinear functions, coupled nonlinear appended dynamics, and uncertain dynamic input nonlinearities with time-varying uncertain time delays. The proposed control design approach provides a globally stabilizing delay-independent robust adaptive output-feedback dynamic controller based on a dual dynamic high-gain scaling based structure.