Global Input Delay Tolerance of MIMO Nonlinear Systems Under Nonsmooth Feedback: A Homogeneous Perspective

• 成果类型: Article
• 署名作者: Yu, Xin; Lin, Wei
• 署名单位: Jiangsu Normal University; University System of Ohio; Case Western Reserve University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3197558
• 发表日期: 2023
• 页码: 3992-4007
• 关键词: Forward completeness; global input delay tolerance; homogeneity; input delay; multi-input multi-output nonlinear systems; nonsmooth feedback

摘要

In this article, we tackle the problem of when a globally asymptotically stabilizable nonlinear system by either state or output feedback is globally tolerant to input delay. We focus on the case when the continuous system is not stabilizable by linear or smooth feedback, and thus, local exponential stabilizability is not fulfilled. With the aid of the Lyapunov-Krasovskii functional method and weighted homogeneity, we prove that for a multi-input multi-output nonlinear system with homogeneous degree zero, global asymptotic stabilizability by nonsmooth but Holder continuous state or output feedback implies global asymptotic stability of the closed-loop system with input delay, i.e., global input delay tolerance (GIDT). We then illustrate applications of the obtained GIDT results to significant classes of time-delay nonlinear systems with uncontrollable/unobservable linearization, including but not limited to a chain of nonlinear integrators, higher order systems with a lower or upper triangular structure, and beyond.