Asymptotic Tracking Control of Nonlinear Time-Delay Systems With Mismatched Disturbances

Abstract

This brief considers the asymptotic tracking control problem of nonlinear time-delay system in the presence of mismatched disturbances. By using dynamic gain based design method, a delay-independent dynamic tracking controller is constructed. Besides, a smooth function is introduced into the virtual controller to compensate the mismatched disturbances. By choosing appropriate Lyapunov-Krasovskii functionals, it is shown that the closed-loop system signals are bounded, and the system output can asymptotically track the desired signal. Finally, a simulation example is conducted to show the effectiveness of the proposed control scheme.