Adaptive control of feedforward nonlinear systems with uncertain time-varying parameters and an unknown time-varying delay in the input

In this paper, we consider a global regulation problem for a class of feedforward nonlinear systems. The key features of our considered system are identified by the presence of uncertain time-varying parameters associated with main diagonal states and input and an unknown time-varying delay in the input. Moreover, the growth rates of nonlinearity and the input-delay are only known to be finite. To solve our considered problem, we give a process to obtain a compact set that contains the allowed time-varying parameters. Then, we propose an adaptive controller which handles both unknown growth rate of nonlinearity and input-delay for system regulation. We carry out the rigorous system analysis and show the effectiveness of our proposed control scheme via an application example.