Output Control for Nonlinear System with Time-Varying Delay and Stability Analysis

This paper deals with the output stabilization of systems with sector-bounded nonlinearity and time-varying delay. In this paper we will consider the problem of absolute stability for a class of time-delay systems which can be represented as a feedback connection of a linear dynamical system with unknown parameters and a uncertain nonlinearity satisfying a sector constraint. For a class of output control algorithms a controller providing output exponential stability of nonlinear system is proposed. Certain results of application of theoretical robust and adaptive control algorithms for various Lego Mindstorms NXT mobile robots (track, wheel and walking ones) are presented in the article.