Robust Time-delayed Control of Nonlinear Discrete-time Systems

With the mass production of robotic systems and an emerging new generation of collaborative robots, the requirements are increasing for robust and efficient control strategies, that can successfully deal with disturbances. This paper proposes a robust and time-delayed control formulated for discrete-time systems, leaning on the theory of Luenberger observers and disturbance-observer-based strategies. The bounded convergence both of the proposed estimator and the tracking error to are proved analytically. Validation is performed in the simulation on a single-link robot manipulator in the presence of structural and significant parametric uncertainty.