Adaptive controller design for a class of time-delay nonlinear systems with input saturation

In this paper, an adaptive neural network controller was presented for a class of strict-feedback time-delay nonlinear system with input saturation. Based on the backstepping technique, an adaptive controller which contained a saturation compensator was obtained by constructing a Lyapunov-Krasovskii functional. It´s proved that the semi-global uniform ultimate boundedness of all the signals in the closed-loop systems was guaranteed. Validity of the proposed approach was shown in a simulation example.