Neural network controller design for a class of nonlinear systems with unknown time delays

In this paper, an adaptive neural network controller was presented for a class of strict-feedback nonlinear systems with unknown time delays and input saturation. Based on the backstepping design technique, an adaptive controller was obtained by constructing an appropriate Lyapunov-Krasovskii functional. The saturation characteristic of the actuator was compensated by a compensator. It is proven that the semi-global uniformly ultimately boundedness of all the signals in the closed-loop systems was guaranteed. A simulation example was provided to illustrate the validity of the proposed approach.