Title: Global Stabilization of Triangular Systems with Time-Delayed Dynamic Input Perturbations,
Abstract: A control design approach is developed for a general class of uncertain
strict-feedback-like nonlinear systems with dynamic uncertain input
nonlinearities with time delays. The system structure considered in this paper
includes a nominal uncertain strict-feedback-like subsystem, the input signal
to which is generated by an uncertain nonlinear input unmodeled dynamics that
is driven by the entire system state (including unmeasured state variables) and
is also allowed to depend on time delayed versions of the system state variable
and control input signals. The system also includes additive uncertain
nonlinear functions, coupled nonlinear appended dynamics, and uncertain dynamic
input nonlinearities with time-varying uncertain time delays. The proposed
control design approach provides a globally stabilizing delay-independent
robust adaptive output-feedback dynamic controller based on a dual dynamic
high-gain scaling based structure.