Predictor-based stabilisation for discrete nonlinear systems with state-dependent input delays

We consider predictor-based stabilisation for discrete nonlinear systems with state-dependent input delays. The key design is how to determine the prediction horizon and the predictor state. Sufficient conditions for stabilisation of the closed-loop system are obtained. An explicit feedback law is presented for compensating state-dependent input delay. Since input delay is dependent on state, a region of attraction is estimated for the closed-loop system. The proposed predictor-based design can be applied in controlling the yaw angular displacement of a four-rotor mini-helicopter.