Dynamic Event-Triggered Control Under Input and State Delays Using Interval Observers

We prove global exponential stability estimates for a class of nonlinear control systems that contain uncertain time-varying input delays and uncertain state delays. We use new dynamic event-triggered controls that ensure that Zeno’s phenomenon does not occur. Our analysis uses new synergies of interval observers and Halanay’s inequality. We illustrate our approach in a marine robotic dynamics that contains uncertain nonlinear terms.