https://www.selleckchem.com/pr....oducts/FK-506-(Tacro
A backstepping controller augmented with a state predictor is proposed to control a quadrotor over a network subjected to both state and input time delay. The state predictor predicts the future values of the states by taking the measured delayed states as input. A backstepping control law is further designed based on these predicted states. It is shown with the aid of the Lyapunov-Razumikhin theorem that the error dynamics of the predictor is asymptotically stable. The cascade of state predictor and backstepping controller
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