This paper examines saturated control of a general class of uncertain nonlinear systems with time-delayed actuation and additive bounded disturbances. The bound on the control is known a priori and can be adjusted by changing the feedback gains. A Lyapunov-based stability analysis utilizing Lyapunov-Krasovskii (LK) functionals is provided to prove uniformly ultimately bounded tracking despite uncertainties in the dynamics. A numerical example is presented to demonstrate the performance of the controller.
['Nicholas R. Fischer', 'Ashwin P. Dani', 'Nitin Sharma', 'Warren E. Dixon']
Saturated control of an uncertain nonlinear system with input delay