Predictor - Based Robust Control of Uncertain Nonlinear Systems Subject to Input Delay

Abstract In this paper, a tracking controller is developed for a class of nonlinear systems subject to time delay in the control input, uncertainties in the dynamic model, and additive disturbances. The control development is based on a novel predictor–like method to address the time delay in the control input. Lyapunov based stability analysis is used to prove semi–global asymptotic tracking.

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