Adaptive fuzzy sliding mode control of input-delayed uncertain nonlinear systems through output-feedback

This paper deals with the design of stabilizing controllers for a class of uncertain nonlinear systems with unknown constant input time delay. A new control method is introduced which merges an adaptive fuzzy sliding mode predictor with an adaptive fuzzy sliding mode controller to circumvent the effects of the unknown time delay, nonlinearities, and unknown plant dynamics. The proposed predictor and controller can be implemented in the real time without recursive and tedious calculations and only by using output-feedback. The uniform ultimate boundedness of the closed-loop system is also guaranteed. Simulation and experiment studies on a nonlinear benchmark problem reveal the effectiveness of the proposed method.