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This paper is concerned with the problem of adaptive fuzzy control for a class of uncertain nonlinear strict-feedback systems. The considered systems contain uncertain state delay and input delay simultaneously. By utilizing the mean value theorem, the unknown time-delayed functions related to all state variables are dealt with. A novel adaptive filter is designed to eliminate the effect of the time-varying input delay. Based on the backstepping technique, a delay-lower-bound-based adaptive fuzzy memory control scheme is developed. It is proved that the proposed adaptive memory control method can guarantee that all the signals in the closed-loop system are bounded and the tracking error converges to a small neighborhood of the origin. A simulation example is given to demonstrate the effectiveness of the proposed control scheme.

Delay-lower-bound-based adaptive fuzzy memory control for uncertain nonlinear systems with state and input delays