Predictor-based stabilization for chained form systems with input time delay

Fäiçal Mnif*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


This note addresses the stabilization problem of nonlinear chained-form systems with input time delay. We first employ the so-called σ-process transformation that renders the feedback system under a linear form. We introduce a particular transformation to convert the original system into a delay-free system. Finally, we apply a state feedback control, which guarantees a quasi-exponential stabilization to all the system states, which in turn converge exponentially to zero. Then we employ the so-called -type control to achieve a quasi-exponential stabilization of the subsequent system. A simulation example illustrated on the model of a wheeled mobile robot is provided to demonstrate the effectiveness of the proposed approach.

Original languageEnglish
Pages (from-to)515-525
Number of pages11
JournalArchives of Control Sciences
Issue number4
Publication statusPublished - Dec 2016


  • Chained form systems
  • Exponential stabilization
  • Mobile robots
  • Time delay system
  • σ-process transformation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization


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