Robust Anti-windup Control Strategy for Uncertain Nonlinear System with Time delays

This paper formulates a new strategy for designing a robust anti-windup (AW) controller for nonlinear delayed system with parametric uncertainties, time delays, input nonlinearity, and exogenous perturbations. A novel robust decoupling framework is developed for uncertain nonlinear delayed systems subject to actuator nonlinearity to deal with the modeling uncertainties. A delay-range-dependent criteria based on free-matrix-based inequality is employed to derive conditions for finding the anti-windup gains by using Lyapunov–Krasovskii function, sector condition, Lipschitz condition, \(L_2\) gain minimization, and bound of delay. Finally, an application to nonlinear one-link flexible robot and Hopfield neural network are provided to validate the effectiveness of the proposed robust AW to mitigate the saturation effect in the uncertain nonlinear delayed system.