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In this paper, the problem of adaptive asymptotic tracking control for a class of uncertain systems with periodic time-varying disturbances and input delay is studied. By combining Fourier series expansion (FSE) with radial basis function neural network (RBFNN), a hybrid function approximator is used to learn the functions with periodic time-varying disturbances. At the same time, the dynamic surface control technique with a nonlinear filter is used to avoid the “complexity explosion” problem in the process of traditional backstepping technology. Ultimately, all closed-loop signals are guaranteed to be semiglobally uniformly bounded, and the given reference signal can be asymptotically tracked by the output signals of system. A simulation example is given to verify the effectiveness of the proposed control scheme.

Adaptive Asymptotic Tracking Control for a Class of Uncertain Input-Delayed Systems with Periodic Time-Varying Disturbances