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International Journal of Aerospace Engineering
Volume 2017, Article ID 6850909, 14 pages
Research Article

Nonlinear Output Regulation with Input Delay and Application in AHV Attitude Control

Automation College, Nanjing University of Aeronautics and Astronautics, Nanjing, China

Correspondence should be addressed to Liang Cai; moc.361@nuhcnasiac

Received 11 February 2017; Revised 23 March 2017; Accepted 30 March 2017; Published 8 May 2017

Academic Editor: Christopher J. Damaren

Copyright © 2017 Liang Cai and Qingxian Wu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Time delay phenomena exist almost everywhere in the actual world and are especially important in the control of an AHV. The small time delay usually ignored in control may cause quite obvious errors in the flight trajectory tracking, because of the extremely high flight speed. In this paper, a new framework of solving a nonlinear input delay regulation problem is proposed for the first time, which is comprised of nonlinear damping controllers, nonlinear disturbance observers, and a nonlinear time delay predictor-based compensator, under the proved separation principle. Then the attitude tracking control of an AHV with a known time-varying input delay is studied based on the proposed design framework. Simulation results show the advantage of the proposed control method.