Robust adaptive control for uncertain nonlinear systems with multiple state and input time delays

This paper studies robust adaptive control for uncertain nonlinear systems with multiple state and input delays. Perturbations in this system are multiple delayed and nonlinear. A memoryless state feedback controller is designed by using Lyapunov-Krasovskii functional and the closed-loop system is proved uniformly ultimately bounded under certain conditions. An example illustrates the proposed method.