Lyapunov-based control of an uncertain Euler-Lagrange system with time-varying input delay

This paper examines control of a general class of uncertain nonlinear Euler-Lagrange systems with time-varying input delay and additive bounded disturbances. A Lyapunov-based stability analysis utilizing Lyapunov-Krasovskii functionals is provided to prove semi-global uniformly ultimately bounded tracking. Simulation results demonstrate the robustness of the control design with respect to the delay.