A New Adaptive-Robust Design for Time Delay Control Under State-Dependent Stability Condition

This brief proposes a new adaptive-robust formulation for time-delay control (TDC) under less-restrictive stability condition. TDC relies on estimating the unknown system dynamics via artificial introduction of time delay, often referred to as estimation (TDE). In conventional TDC, error, called TDE is taken be upper bounded by constant assumption small delay and, most importantly, priori states. We highlight issues such methodology an unstable counterexample. Consequently, structure bound error formulated, which has explicit dependence states and valid any chosen delay. insight leads design, namely, time-delayed (TDARC). The effectiveness TDARC substantiated multiple-degrees-of-freedom robot.