Adaptive Finite-time Tracking Control for Class of Uncertain Nonlinearly Parameterized Systems with Input Delay

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.