Predictor control for multi-input non-linear systems with time- and state-dependent input delays

Predictor control for a class of multi-input non-linear systems with time- and state-dependent input delays is considered. First, a delay-free control law is given for the original system in the absence of delays based on the control Lyapunov function. Second, sufficient conditions are obtained and a predictor control for the original system is presented. Stability analysis is done by a Lyapunov functional. Due to the delay dependent on time and state, a region of attraction is estimated. Further, the stabilisation formula is optimal with respect to a meaningful cost functional. The proposed design is illustrated by a mobile robot with input delay.

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