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ABSTRACT We establish robustness of the predictor feedback control law to perturbations appearing at the system input for affine nonlinear systems with time-varying input delay and additive disturbances. Furthermore, it… Click to show full abstract
ABSTRACT We establish robustness of the predictor feedback control law to perturbations appearing at the system input for affine nonlinear systems with time-varying input delay and additive disturbances. Furthermore, it is shown that it is inverse optimal with respect to a differential game problem. All of the stability and inverse optimality proofs are based on the infinite-dimensional backstepping transformation and an appropriate Lyapunov functional. A single-link manipulator subject to input delays and disturbances is given to illustrate the validity of the proposed method.
Journal Title: International Journal of Systems Science
Year Published: 2018
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