Serhat Obuz

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—A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown , time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An integral term composed of previous control values facilitates a delay-free open-loop error system and the development of(More)
In this paper, a tracking controller is developed for a class of nonlinear systems subject to time delay in the control input, uncertainties in the dynamic model, and additive disturbances. The control development is based on a novel predictor–like method to address the time delay in the control input. Lyapunov based stability analysis is used to prove(More)
— Previous results have shown experimental evidence that the muscle response to neuromuscular electrical stimulation (NMES) is delayed; the time lag is often referred to as electromechanical delay. NMES closed-loop control methods have been developed to compensate for a known constant input delay. However, as a muscle fatigues, this delay increases. This(More)
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