In this paper, an adaptive tracking control problem is addressed for a class of uncertain nonlinear systems with input delay and perturbations. To design the desired adaptive controller, Pade approximation approach is introduced to handle the problem from the input delay. In addition, to avoid the problem from “explosion of complexity” existing in the conventional backstepping design, a dynamic surface control method is presented by employing a nonlinear filter. Then, a new adaptive controller with a simple structure is established. Under the proposed controller, all the closed-loop signals remain semiglobally bounded, and especially the system output can follow the given reference signal asymptotically. Some simulations are given to verify the effectiveness of the proposed control scheme.

中文翻译：

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一类不确定输入延迟系统具有渐近跟踪性能的自适应动态曲面控制设计

在本文中，解决了一类具有输入延迟和扰动的不确定非线性系统的自适应跟踪控制问题。为了设计所需的自适应控制器，引入了 Pade 近似方法来处理输入延迟问题。此外，为了避免传统反步设计中存在的“复杂度爆炸”问题，提出了一种采用非线性滤波器的动态曲面控制方法。然后，建立了一种结构简单的新型自适应控制器。在提出的控制器下，所有闭环信号保持半全局有界，特别是系统输出可以渐近地遵循给定的参考信号。给出了一些仿真来验证所提出的控制方案的有效性。