Abstract
We consider general nonlinear systems with time-varying input delay for which we design a predictor-based feedback controller. Under the assumptions of forward completeness of the open-loop system and the existence of a (possibly time-varying) stabilizing controller, in the absence of the input delay, our controller achieves global asymptotic stability in the presence of a time-varying input delay. We prove asymptotic stability based on a backstepping transformation which enables us to construct a Lyapunov functional. Our design is illustrated by a numerical example of a second order system.
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