Stabilization of a class of uncertain feedforward nonlinear systems subject to input delay

ABSTRACT This note presents nested-saturation controllers for stabilising a class of feed-forward nonlinear systems that are subject to uncertain gains and an input delay. To verify the reduction of nested saturations, we adopt the strategy of partitioning the delay-interval, and can thus use the state values in a small domain to calculate a crucial composite term; when proving the asymptotic stability of the reduced time-delay system, we utilise the nested structure of saturations to make a coordinate transformation and consequently, can use a M-matrix based stability criterion. In this way, the analysis in two stages is straightforward, and a single group of parameter conditions are summarised to guarantee the global asymptotic stability of the closed-loop system.

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