Fuzzy Adaptive Output-Feedback Control Design for Nonlinear Dynamic Systems with Output Delay

In this paper, a fuzzy adaptive output feedback control design method for a class of nonlinear output-delayed single-input single-output systems with guaranteed control performance is proposed. First, the Takagi and Sugeno fuzzy model is employed to approximate a nonlinear system. Next, based on the fuzzy model, a fuzzy observer-based controller is developed to achieve the control performance with a desired disturbance rejection constraint. The fuzzy adaptive observers consist of a serial-observation algorithm to reconstruct the system states at different delayed time instants for state estimation. Based on the Lyapunov synthesis approach, a global uniform ultimate boundedness property (UUB) of the state estimation errors and tracking errors in the closed-loop system can be achieved. According to some conditions, global exponential convergence to a bounded value for the observation error is ensured for any given delay in the measurements. Finally, an inverted pendulum system is used to illustrate the effectiveness of the proposed method.