A Fully Actuated System Approach for Stabilization of Discrete-Time Multiple-Input Nonlinear Systems with Distinct Input Delays

In this paper, the problem of stabilization is considered for discrete-time multiple-input nonlinear systems with distinct input delays law based on the fully actuated system approach. In order to compensate the input delays, a prediction scheme is presented to predict future states based on the closed-loop linear system. Then, a stabilizing law is constructed for nonlinear delayed systems by replacing the future states in the control law for the corresponding delay-free systems with their prediction. Finally, numerical examples are given to verify the effectiveness of the proposed approach.