Output feedback control of an uncertain input-delayed nonlinear system with bounded control commands |
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| Institution: | 1. Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China;2. Electronics Engineering Department, Universidad de Sevilla, Sevilla 41092, Spain;1. School of Information and Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China;2. College of Information Science and Technology, Donghua University, Shanghai 201620, China;1. School of Automation, Central South University, Changsha, 410083, China;2. Science and Technology on Space Physics Laboratory, Beijing, 100076, China;3. Research Institute of Aerospace Technology, Central South University, Changsha, 410083, China;1. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai, China;2. School of Automation Science and Electrical Engineering, Beihang University, Beijing, China;3. School of Mathematics and Statistics, Shandong University of Technology, Zibo, China |
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| Abstract: | This study focused on controlling a class of nonlinear systems with actuation time delays. We proposed a novel output-feedback controller in which the magnitude of the input commands is saturated and can be adjusted by varying control parameters. In this design, a predictor term is used to compensate for delays in the input, and auxiliary systems are exploited to provide a priori bounded control commands and account for the lack of full-state information. The stability analysis results revealed that uniformly ultimately bounded tracking is guaranteed despite modeling uncertainties and additive time-varying disturbances in the system dynamics. The performance of the controller was evaluated through simulation. |
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