In this paper, the tracking problem for a class of uncertain nonlinearly parameterized systems with input delay based the adaptive finite-time control scheme is investigated. The Pade approximation method is employed to handle the input delay problem. In combination with the variable separation technique and standard backstepping design process, a novel adaptive finite-time control strategy with a learning parameter is developed, and a simplified control law established. It can be proved that the system output signal follows the reference signal in finite time and all signals of the system are bounded under this control strategy. The experimental results demonstrate the feasibility and efficiency of the scheme.

中文翻译：

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一类具有输入延迟的不确定非线性参数化系统的自适应有限时间跟踪控制

本文研究了一类基于自适应有限时间控制方案的具有输入延迟的不确定非线性参数化系统的跟踪问题。Pade 近似方法用于处理输入延迟问题。结合变量分离技术和标准反步设计过程，开发了一种具有学习参数的新型自适应有限时间控制策略，并建立了简化的控制律。可以证明，系统输出信号在有限时间内跟随参考信号，并且系统的所有信号都在该控制策略下有界。实验结果证明了该方案的可行性和有效性。