This paper presents a data-driven model-based control system for autonomous underwater vehicles (or AUVs) subject to input delays. work is motivated by the time delays that can arise in robotics due communication restrictions and sensor malfunctions. Such highly degrade performance of classical structures resulting unpredictable behaviours. The proposed architecture addresses such limitations. ...

A wealth of knowledge and research results exist for control of systems with state delays and input delays. Problems with long input delays, for unstable plants, represent a particular challenge. In fact, they were the first challenge to be dealt with, in Otto J. M. Smith’s article (Smith, 1959), where a compensator, now known as the Smith predictor, was introduced five decades ago. The Smith p...

‎In this paper‎, ‎we present a numerical method based on Bernstein polynomials to solve optimal control systems with constant and pantograph delays‎. ‎Constant or pantograph delays may appear in state-control or both‎. ‎We derive delay operational matrix and pantograph operational matrix for Bernstein polynomials then‎, ‎these are utilized to reduce the solution of optimal control with constant...

This paper studies the controllability and observability of discrete-time systems with network-induced variable delays. Since controllability and observability are structural properties of systems, which are first checked before control design, we study if a controllable (resp. observable) non-delayed system can loose these properties if we augment the model with particular pure input-output va...

This paper studies the consensus problem for multi-agent systems with diverse input and communication delays. Decentralized consensus conditions are obtained based on the frequency-domain analysis and matrix theory. By these conditions, to achieve consensus under large input delays, one should use small interconnection gains or have small numbers of neighbors when the graph is kept connected. F...

in this paper, an adaptive fuzzy control scheme is proposed for a class of perturbed strict-feedback nonlinear systems with unknown discrete and distributed time-varying delays, and the proposed design method does not require a priori knowledge of the signs of the control gains.based on the backstepping technique, the adaptive fuzzy controller is constructed. the main contributions of the paper...

Robust stability and two-dimensional trajectory following problems are considered for n-link robotic systems with transmission delays. Such problems appear in telerobotics, where the controller is physically far from the robot, and in neural control of musculoskeletal (biological) systems, where muscle actuation and neural sensing are subject to time delays. A typical second-order nonlinear dyn...

For a class of uncertain systems we analyze passification-based adaptive controller in the presence of small, unavoidable input and output time-varying delays as may be present in controller implementation. We derive upper bounds for time delays such that in some domain of initial conditions the states of the closed-loop system tend to zero, whereas an adaptive controller gain tends to a consta...