# Global Stabilization of Triangular Systems with Time-Delayed Dynamic Input Perturbations

## TL;DR

This paper presents a robust adaptive control method for a broad class of uncertain nonlinear systems with time delays, ensuring global stability despite complex uncertainties and unmodeled dynamics.

## Contribution

It introduces a delay-independent adaptive output-feedback controller for strict-feedback-like systems with dynamic input uncertainties and time delays, expanding control design capabilities.

## Key findings

- Achieves global stabilization under complex uncertainties.
- Designs a delay-independent robust adaptive controller.
- Handles unmeasured states and time-varying delays effectively.

## Abstract

A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal uncertain strict-feedback-like subsystem, the input signal to which is generated by an uncertain nonlinear input unmodeled dynamics that is driven by the entire system state (including unmeasured state variables) and is also allowed to depend on time delayed versions of the system state variable and control input signals. The system also includes additive uncertain nonlinear functions, coupled nonlinear appended dynamics, and uncertain dynamic input nonlinearities with time-varying uncertain time delays. The proposed control design approach provides a globally stabilizing delay-independent robust adaptive output-feedback dynamic controller based on a dual dynamic high-gain scaling based structure.