Output Regulation for a Class of Uncertain Nonlinear Time-delay Systems by Output Feedback Control

This paper is concerned with the output regulation problem for a class of uncertain nonlinear systems with time-delay and immeasurable states. The nonlinear system is driven by an unknown linear system. By virtue of solutions of regulator equation and canonical internal model, the output regulation problem is converted to a stabilization problem of the augmented system. A novel fuzzy state observer independent of time-delay is proposed and the fuzzy adaptive output feedback controller and adaptive law are constructed such that all the solutions of the closed-loop system are ultimately uniformly bounded, and the tracking error e can asymptotically converge to a small neighborhood of the origin. Moreover the Lyapunov-krasovskii functional is chosen such that the stability analysis of the system can be performed. Finally a simulation example is provided to prove the efficiency of the proposed method.