We develop a predictor feedback control scheme for multi-input affine nonlinear systems with distinct input delays in each individual input channel and additive disturbances. The input-to-state stable control Lyapunov function (ISS-CLF) is used to design control laws for the delay-free affine nonlinear systems. Then, a predictor-feedback controller is constructed for this class of nonlinear systems with input delays. We establish input-to-state stability with respect to additive plant disturbances, as well as we show that the control law derives gain margin guarantees. Our proofs are based on the infinite-dimensional backstepping transformation and the construction of a Lyapunov functional. The developed method is applied to the control of vehicular traffic flow at distant bottlenecks.

中文翻译：

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具有不同输入延迟的多输入仿射非线性系统的预测器反馈 ISS

我们为多输入仿射非线性系统开发了一种预测器反馈控制方案，在每个单独的输入通道中具有不同的输入延迟和加性扰动。输入到状态稳定控制李雅普诺夫函数 (ISS-CLF) 用于设计无延迟仿射非线性系统的控制律。然后，为这类具有输入延迟的非线性系统构造了预测器反馈控制器。我们建立了关于加性工厂干扰的输入到状态的稳定性，并且我们证明了控制律获得了增益裕度保证。我们的证明基于无限维反推变换和李雅普诺夫泛函的构造。将所开发的方法应用于远距离瓶颈处的车辆交通流控制。