Predictive control for a class of nonholonomic constrained mechanical systems with input delay

In this paper, we consider a class of nonholonomic constrained mechanical systems with time delay in the control input. A reduced dynamic system is firstly derived from original Euler-Lagrange mechanical systems, and then based on the new system, model-based predictive controllers are developed to compensate for the input delay. By the construction of Lyapunov-Krasovskii functionals and Lyapunov direct method, the proposed controllers guarantee that all the signals in the closed-loop system achieve the semiglobally uniformly ultimately boundedness and system outputs converge to an adjustable neighborhood of the given bounded desired trajectory. Simulation results illustrate the validity and performance of the proposed control design.