Prediction-Based Control for Nonlinear Systems with Input Delay

Abstract EN

This work has two primary objectives.

First, it presents a state prediction strategy for a class of nonlinear Lipschitz systems subject to constant time delay in the input signal.

As a result of a suitable change of variable, the state predictor asymptotically provides the value of the state τ units of time ahead.

Second, it proposes a solution to the stabilization and trajectory tracking problems for the considered class of systems using predicted states.

The predictor-controller convergence is proved by considering a complete Lyapunov functional.

The proposed predictor-based controller strategy is evaluated using numerical simulations.