State prediction based control schemes for nonlinear systems with input delay and external disturbance

In this paper, a control scheme based on state prediction is proposed for class of nonlinear systems subject to input delay and external disturbance. Firstly, as constant delay, an improved that combining with dynamic surface (DSC) technique proposed, which can compensate the completely. Secondly, by considering disturbance, effective controller prediction, DSC disturbance observer presented tackle disturbed input-delayed systems. Thirdly, time-varying includes technique, saturation sliding mode further tracking addressed Besides, some theorems are given ensure all signals in closed-loop be semi-globally ultimately uniformly bounded (UUB) under schemes. Finally, utilising model quadrotor unmanned aerial vehicle (UAV), simulations illustrate effectiveness our results.