A Robust Delay Compensator for Uncertain Nonlinear Systems With Unknown Time-Varying Input Delay

Author:

Kumar Jain Ashish1,Bhasin Shubhendu1

Affiliation:

1. Department of Electrical Engineering, Indian Institute of Technology Delhi, New Delhi 110016, India e-mail:

Abstract

This paper proposes a robust compensator for a class of uncertain nonlinear systems subjected to unknown time-varying input delay. The proposed control law is based on the integral of past values of control and a novel filtered tracking error. Sufficient gain conditions dependent on the known bound of the delay are derived using a Lyapunov-based stability analysis, where Lyapunov–Krasovskii (LK) functionals are used to achieve a global uniformly ultimately bounded (GUUB) tracking result. Simulation results for a nonlinear system are used to evaluate the performance and robustness of the controller for different values of time-varying input delay.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

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