This paper examines saturated control of a general class of uncertain nonlinear systems with time-delayed actuation and additive bounded disturbances. The bound on the control is known a priori and can be adjusted by changing the feedback gains. A Lyapunov-based stability analysis utilizing Lyapunov-Krasovskii (LK) functionals is provided to prove uniformly ultimately bounded tracking despite uncertainties in the dynamics. A numerical example is presented to demonstrate the performance of the controller. (C) 2013 Elsevier Ltd. All rights reserved.