Adaptive Control for a Class of Nonlinear Time-Delay System Based on the Fully Actuated System Approaches

This paper focuses on the problem of adaptive control for a class of time-delay systems. First, the strict feedback nonlinear time-delay system is transformed into a fully actuated system by utilizing the fully actuated system theory. Then, the uncertain time-delay terms of the system are bounded by the product of the absolute value of the system state and the non-linear function with the unknown parameters. By following the high order fully actuated system approaches, a continuous adaptive controller is designed for the system. It is proved that the controller can render the system achieve asymptotically stability. Finally, two numerical examples are provided to illustrate the effectiveness of the theoretical results.