Backstepping Design for Robust Stabilizing Control of Nonlinear Systems with Time-delay
نویسندگان
چکیده
Backstepping design for robust stabilizing control of nonlinear systems with time-delay is investigated in this paper. It is shown that the backstepping design for time-delay systems based on the Lyapunov-Razumikhin function is not a trivial extension of the case of nonlinear nondelay systems due to the existence of the Razumikhin condition. The key point is how to deal with the non-triangular structure form of the system after application of the Razumikhin condition. A design technique to overcome the obstacle is given so that a delayindependent state feedback stabilizing control law can be explicitly obtained by step-by-step recursion based on the construction of the Lyapunov-Razumikhin function. Copyright c ©2005 IFAC
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