Predictor-based robust control of uncertain nonlinear systems subject to input delay

10th IFAC Workshop on Time Delay Systems, TDS-2012; Boston, MA; United States; 22 June 2012 through 24 June 2012In this paper, a tracking controller is developed for a class of nonlinear systems subject to time delay in the control input, uncertainties in the dynamic model, and additive disturbances. The control development is based on a novel predictor-like method to address the time delay in the control input. Lyapunov based stability analysis is used to prove semi-global asymptotic tracking. © 2012 IFAC