### Predictive Control of High-Order Fully Actuated Nonlinear Systems with Time-Varying Delays

LIU Guo-Ping

1. Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China
• Received:2021-11-20 Published:2022-04-13
• Supported by:
This research was supported in part by the National Natural Science Foundation of China under Grant Nos. 62173255 and 62188101.

LIU Guo-Ping. Predictive Control of High-Order Fully Actuated Nonlinear Systems with Time-Varying Delays[J]. Journal of Systems Science and Complexity, 2022, 35(2): 457-470.

This paper investigates the control problem of high-order fully actuated nonlinear systems with time-varying delays in the discrete-time domain. To make the compensation for time-varying delays concise, active and universal, a novel nonlinear predictive control method is proposed. The designed nonlinear predictive controller can achieve the same expected control performance as the nonlinear systems without delays. At the same time, the necessary and sufficient conditions for the stability of the closed-loop nonlinear predictive control systems are derived. Numerical examples show that the proposed nonlinear predictive controller design method can completely compensate for the time-varying delays of nonlinear systems.
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