Global Adaptive Controller for Linear Systems with Unknown Input Delay

Abstract

In this note, a switching-type delay-adaptive predictor feedback controller is proposed to globally stabilize linear systems with unknown input delay. The idea of our method is to take advantage of the robustness of feedback laws to delay estimate error that is sufficiently small. We first prove that, when the delay estimate is sufficiently close to the true delay, there is a Lyapunov-Krasovskii functional which is strictly decreasing, and asymptotic regulation is achievable. Then, with the help of the Lyapunov-Krasovskii functional as a supervisor, the switching logic plays the role of adjusting the estimated delay online to make it sufficiently close to the true delay. The result of this note shows global adaptive stabilization of linear systems with unknown input delay is achievable with a logic-based switching control law.