We provide a new backstepping result for time-varying systems with input delays. The novelty of our work is in the bounds on the controls, and the facts that (i) one does not need to compute any Lie derivatives to apply our controls, (ii) the controls have no distributed terms, and (iii) we do not require any differentiability conditions on the available controls for the subsystems.
Publication Source (Journal or Book title)
Mazenc, F., & Malisoff, M. (2016). New control design for bounded backstepping under input delays. Automatica, 66, 48-55. https://doi.org/10.1016/j.automatica.2015.12.012