Adaptive Stabilization of Time-Delay Feedforward Systems with Unknown Parameters

We investigate the problem of global adaptive stabilization by delay-free state feedback for nonlinearly parameterized feedforward systems with long delays in the state and input. A delay-free adaptive controller is presented to deal with the issues of nonlinear parameterization, the input delay and delays in the state simultaneously, achieving global state regulation of the closed-loop nonlinear system. The underlying philosophy of this research is the construction of a saturation compensator with gain-dependent saturation levels, whose gain is dynamically updated based on universal control.