Compensation of time-varying input delay for nonlinear systems
Abstract
We consider general nonlinear systems with time varying input delay for which we design a predictor-based feedback controller. Under the assumptions of forward completeness of the open-loop system and the existence of a (possibly time-varying) stabilizing controller, in the absence of the input delay, our controller achieves global asymptotic stability in the presence of a time-varying input delay. We prove asymptotic stability based on a backstepping transformation which enables us to construct a Lyapunov functional. Our design is illustrated by a numerical example of a second order system.
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The controller incorporates a compensator that effectively cancels the influence of inhomogeneous terms in the PDE actuator state, without imposing restrictions on the severity of the nonlinearity or the feasibility condition, while guaranteeing the latter through an assumption on the positivity of the transport speed to avoid an ill-posed problem.
“Our controller incorporates a compensator that effectively cancels the influence of inhomogeneous terms in the PDE actuator state, without imposing any restrictions on the severity of the nonlinearity or the feasibility condition [5,6], while guaranteeing the latter through an assumption on the positivity of the transport speed to avoid an illposed problem (see [14,17]).”
From Multi-layer predictor feedback design for nonlinear integro-differential equations with state-dependent input delays (2026) · cites this paper as [5]
System (1)-(3) is no longer equivalent to the classical time-delay system in [5,6,14-17].
“Equation (31) indicates that system (1)-(3) is no longer equivalent to the following classical time-delay system in [5,6,14-17]”
From Multi-layer predictor feedback design for nonlinear integro-differential equations with state-dependent input delays (2026) · cites this paper as [5]
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References 38 · Cited by 20
- Authors
- Bekiaris-Liberis, N., & Krstic, M.
- Affiliations
- University of California San Diego (US)
- Venue
- 2011 19th Mediterranean Conference on Control & Automation (MED)
- Publisher
- IEEE
- Published
- 2011-06
- Pages
- 1040-1045
- ISSN
- 2325-369X (ISSN-L)
- OpenAlex
- W2138521626
- Cited by
- 20
- References
- 38
- Citations by year
- 2017: 3 · 2016: 2 · 2015: 3 · 2014: 1 · 2013: 6 · 2012: 4
- FWCI
- 6.42
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- Mediterranean Conference on Control and Automation (MED) (publishedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Computer Science › Computer Networks and Communications › Neural Networks Stability and Synchronization
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Keywords
- time-varying input delay, nonlinear systems, global asymptotic stability, backstepping transformation, Lyapunov functional, forward completeness, time delay compensation
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