Predictor-based periodic event-triggered control for nonlinear uncertain systems with input delay

In this paper we investigate the problem of predictor-based periodic event-triggered control for a class of nonlinear uncertain systems subject to input delay. When only sampled-data output is available, a novel predictor-based continuous-discrete observer is first designed to estimate system state, and an event-triggered controller is second proposed to globally exponentially stabilize the nonlinear uncertain system. Under the proposed control method, the effects of input delay and sampling of output can be considerably compensated thanks to prediction technique. As a byproduct, the Zeno behavior is avoided in nature since the proposed event-triggering mechanism is detected in the form of discrete-time. Some sufficient stability conditions on maximum allowable sampling period and input delay are presented by using feedback domination technique and small-gain argument