Delay-adaptive full-state predictor feedback

Abstract

Adaptive control in the presence of actuator delays is a challenging problem. Over the last 20 years, several control designs have been developed that address this problem. However, the existing results deal only with the problem where the plant has unknown parameters but the delay value is known. The remaining theoretical frontier, and a problem of great practical relevance, is the case where the actuator delay value is unknown and highly uncertain (of completely unknown value). This problem is open in general even in the case where no parametric uncertainty exists in the ODE plant.