In this article, state estimation-based adaptive control problem for a class of uncertain systems subject to time-delay and external disturbance is investigated within sliding mode framework. A simplified state observer without any inputs is designed to reconstruct the unmeasured state variables, from which a novel linear switching surface is provided. By applying a novel adaptive reaching motion controller, the existence and arrival of the defined switching surface are established. It is shown that in the framework of Lyapunov stability theory and linear matrix inequality technique, the proposed control scheme achieves the desirable performance for the closed-loop system. Two illustrative examples are given to substantiate the effectiveness of the proposed method.

本文在滑模框架下研究了一类具有时滞和外扰的不确定系统的基于状态估计的自适应控制问题。设计了一个没有任何输入的简化状态观察器来重建未测量的状态变量，从中提供了一个新颖的线性切换表面。通过应用一种新颖的自适应到达运动控制器，确定了定义的切换表面的存在和到达。结果表明，在李雅普诺夫稳定性理论和线性矩阵不等式技术的框架下，所提出的控制方案实现了闭环系统的理想性能。给出了两个说明性示例来证实所提出方法的有效性。