A Fully Actuated System Approach for Stabilization of Discrete-Time Multiple-Input Nonlinear Systems with Distinct Input Delays

doi:10.1007/s11424-022-2046-z

Journal of Systems Science and Complexity ›› 2022, Vol. 35 ›› Issue (2): 670-687.DOI: 10.1007/s11424-022-2046-z

A Fully Actuated System Approach for Stabilization of Discrete-Time Multiple-Input Nonlinear Systems with Distinct Input Delays

WU Ai-Guo^1,2, ZHANG Jie¹, JI Youzhou¹

1. Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China;
2. HIT Wuhu Robot Technology Research Institute, Wuhu 241008, China

Received:2022-02-17 Published:2022-04-13
Contact: WU Ai-Guo. Email: ag.wu@163.com
Supported by:
This work was supported by the Science Center Program of National Natural Science Foundation of China under Grant No. 62188101, HIT Wuhu Robot Technology Research Institute, the National Natural Science Foundation of China under Grant No. 62173112, Guangdong Natural Science Foundation under Grant No. 2019A1515011576, and Shenzhen Science and Technology Program under Project No. JCYJ20210324132413034.

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WU Ai-Guo, ZHANG Jie, JI Youzhou. A Fully Actuated System Approach for Stabilization of Discrete-Time Multiple-Input Nonlinear Systems with Distinct Input Delays[J]. Journal of Systems Science and Complexity, 2022, 35(2): 670-687.

In this paper, the problem of stabilization is considered for discrete-time multiple-input nonlinear systems with distinct input delays law based on the fully actuated system approach. In order to compensate the input delays, a prediction scheme is presented to predict future states based on the closed-loop linear system. Then, a stabilizing law is constructed for nonlinear delayed systems by replacing the future states in the control law for the corresponding delay-free systems with their prediction. Finally, numerical examples are given to verify the effectiveness of the proposed approach.

Key words: Fully actuated system approach, input delays, nonlinear systems, prediction scheme

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