LAUSR

An adaptive tracking control is investigated for a class of nonstrict-feedback nonlinear systems with time delays subject to input saturation nonlinearity and output constraint. First, the Gaussian error function is used to express the continuous differentiable asymmetric saturation model, and a barrier Lyapunov function is designed to ensure that the output parameters are restricted. Then, an appropriate Lyapunov–Krasovskii functional is chosen to deal with the unknown time-delay terms, and the neural network is used to model the unknown nonlinearities. Finally, based on Lyapunov stability theory, an adaptive neural controller is designed to establish the closed-loop system stability. The example is provided to further illustrate the effectiveness and applicability of the proposed approach.