Global output feedback control for a class of high-order feedforward nonlinear systems with input delay

Area of Science:

• Control Systems Engineering
• Nonlinear Dynamics
• Systems Theory

Background:

• Output feedback stabilization is crucial for complex systems.
• High-order feedforward nonlinear systems present unique control challenges.
• Time-varying input delays can destabilize system performance.

Purpose of the Study:

• To develop a stabilization method for high-order feedforward nonlinear systems with time-varying input delay.
• To design an observer and controller for global asymptotic stability.
• To demonstrate the effectiveness of the proposed control scheme.

Main Methods:

• Coordinate transformations and scaling gain introduction.
• Observer and controller design for nominal system stabilization.
• Homogeneous domination approach and Lyapunov-Krasovskii functional for stability analysis.

Main Results:

• The proposed observer and controller achieve global asymptotic stability for the nominal system.
• The scaling gain effectively stabilizes the closed-loop system despite input delays.
• Simulation examples confirm the practical applicability and performance of the method.

Conclusions:

• The presented output feedback stabilization strategy is effective for the studied class of nonlinear systems.
• The method provides a robust solution for systems with time-varying input delays.
• The work contributes to the advancement of control theory for complex nonlinear systems.