Online Time Delay Identification and Control for General Classes of Nonlinear Systems

Abstract

In this study, online identification of state delays is discussed. First, a novel adaptive time delay identification technique is proposed for general classes of nonlinear systems subject to state delays. The stability of the time delay identification algorithm is analyzed via Lyapunov-based techniques. In this work, we consider the time delay as a nonlinear parameter effecting the system which is a seemingly novel departure from the existing literature. As an extension, this technique is modified to design a tracking controller for general classes of nonlinear systems subject to state delays. The main novelty of this controller is that identification of unknown state delays are ensured while output tracking objective is satisfied. Numerical simulations are conducted that demonstrate the efficiency of the time delay identification algorithm and the tracking controller.