Stabilization for p-Normal Nonlinear Systems in Presence of Inverse Dynamics and Input Time-Delay

This study concentrates on the state feedback stabilization for a class of more general p-normal nonlinear systems in presence of inverse dynamics and input time-delay under rational powers. A novel control input compensation signal comprising a finite integral of previous control values is presented, and an equivalent system with control input dependent-free time delay is obtained by introducing a variable transformation technique that includes the compensation signal. The event-triggered mechanism is utilized to overcome the resource consumption that occurs in the traditional control frameworks by adjusting the controller according to system, and overcomes the difficulties caused by high power $p_{n}$ , and effectively reduces the number of controller update compared without event-trigger mechanism. A suitable controller is designed in line with the homogeneous domination method to ensure the globally stability of the closed-loop system, and further simplifying the processing of nonlinearities during controller design. Finally, the effectiveness of the proposed control scheme is verified through a numerical simulation.