科研之友
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摘要
This paper investigates the saturated delayed stabilization of a chain of integrators with higher-order nonlinear terms. With the aid of a recent state transformation, the system is transformed into a canonical form in which time delay appears in both input and states. As a result, natural cancellations can be fully used in the saturation reduction analysis, and fewer terms need to be estimated in the asymptotical stability analysis of the reduced system. In addition, a single tuneable parameter is introduced to the special state transformation, which facilitates compensating an arbitrarily large input-delay. As an example, a simplified inertia wheel pendulum system is provided with an explicit controller and numerical simulations are given to demonstrate the effectiveness of the suggested controller.
