In this paper, the problem of adaptive fuzzy tracking control is considered for a class of uncertain nonaffine nonlinear systems with\nexternal disturbances, multiple time delays, and nonsymmetric saturation constrains. First, the mean value theorem is employed\nto deal with the nonaffine term with input nonlinearity. Then, a new adaptive fuzzy tracking controller with parameter updating\nlaws is designed by using fuzzy approximation technique. Moreover, it is shown that all the closed-loop signals are bounded and\nthe tracking errors can asymptotically converge to zero via the Lyapunov stability analysis. Finally, the simulation example for van\nder Pol oscillator system is worked out to verify the effectiveness of the proposed adaptive fuzzy design approach.
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