Adaptive Control Design with Assigned Tracking Accuracy for a Class of Nonlinearly Parameterized Input-Delayed Systems

This paper addresses the adaptive control problem of a class of nonlinear systems with unknown parameters and input delay, and the tracking accuracy of the controlled system is assigned a priori. The Pade approximation method is introduced to deal with the problem from the input delay. By creating a group of nonnegative functions, an appropriate controller is designed with the backstepping technology. It is shown that under the obtained controller, the boundedness of all the closed-loop signals is guaranteed, and the tracking error especially can converge to the accuracy assigned a priori. Finally, a simulation example is given to verify the effectiveness of the proposed scheme.