Safe Delay-Compensated Control With Nonlinear Actuator Dynamics

This paper develop a safe delay-compensated control scheme for a linear ODE under nonlinear actuator dynamics. Rewriting the delay as a transport PDE, the overall system is represented as a nonlinear ODE-transport PDE-ODE sandwich system, where the nonlinear ODE models the nonlinear actuator, the transport PDE captures the delay, and the last ODE is the plant to be regulated safely. Our control design guarantees the exponential convergence of all system states and the state furthest from the control input tracking the target trajectory from one side, i.e., nonundershooting. The proposed control scheme has been verified in unmanned vehicle control with avoid collisions.