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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.

State-estimation-based adaptive sliding mode control for a class of uncertain time-delay systems: a new design