New results on adaptive neural control of a class of nonlinear systems with uncertain input delay

The state feedback control scheme combined with backstepping, neural network and adaptive control is proposed for the tracking control problem of a class of nonlinear systems with uncertain input delay and disturbances. A filter and a virtual observer are constructed to produce the auxiliary signal. Neural networks are employed to estimate the unknown continuous functions. The tracking error is proved to ultimately converge to an adequately small compact set. The theoretical result is illustrated through a simulation example.