Asymptotic stabilization of a class of nonlinear systems with long input delay in the presence of disturbance. (August 2019) - Moosapour, Seyed Hamze
Abstract: Asymptotic stabilization of a class of nonlinear systems with known constant long input delay is addressed in the presence of external disturbance by applying sliding mode control method. Modified prediction variable scheme is employed to compensate long delays in the input, where conventional prediction variable approaches cannot be employed. This is mainly due to the fact that the external disturbance appears in the prediction variable, which renders the controller dependent on the external disturbance. In order to tackle this problem, the nonlinear disturbance observer based predictor is used. A suitable disturbance observer is designed to estimate the external disturbance that appears in the prediction variable. Respected to some existing results, the prediction-based control for more general class of the nonlinear systems in the presence of external disturbance is the main contribution of this paper. Actuator and sensor delays exist in the most common dynamic systems. So, the proposed control scheme can be employed in many conventional systems. The simulation results indicate the robustness and efficiency of the proposed controller. Highlights: Prediction-based sliding mode control is used for a class of the nonlinear systems. Design of nonlinear disturbance observer for a class of input-delay nonlinear systems. The asymptotic stability for prediction variable convergence is proved. An analysis of the state error is performed for input delay nonlinear systems. The asymptotic stability of a class of input delay nonlinear system is proved.