Controllability Analysis of Continuous-time Affine Nonlinear Systems with Time-delay

In the paper, a new controllability analysis method for continuous-time affine nonlinear systems with time-delay is presented, and the criteria for global state controllability and global output state controllability of such systems are given, as well as the design method of corresponding controllers. Then, through MATLAB simulation results, the correctness of the controllability analysis method and the effectiveness of the designed controller method are verified. The work of this paper fills in the blank of related research field.