Robust Control for a Class of Time-delay Nonlinear Systems via Output Feedback Strategy

This paper studies the robust control problem for time-delay systems with complicated inherent nonlinearities and unknown disturbances. Based on the modified homogeneous domination method and by constructing the proper Lyapunov-Krasovskii (L-K) functional, output feedback controllers are successfully constructed to guarantee the boundedness of all the states of the closed-loop system. The convergence of the states is also realizable when the L₂ norm of the disturbance exists. The presented method is also extended to solve the control problem of nonholonomic time-delay system. Simulation examples are given to show the effectiveness of the proposed theory.