Output feedback control of an uncertain input-delayed nonlinear system with bounded control commands

This study focused on controlling a class of nonlinear systems with actuation time delays. We pro-posed 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 compen-sate 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.(c) 2022 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.