Memoryless state observer-based adaptive control for uncertain nonlinear systems with multiple time delays

In this paper,the problem of adaptive control based on memoryless state observer is considered for uncertain nonlinear systems with multiple time delays. The upper bound of the time-delay state disturbance is unknown. And an adaptive law is proposed to estimate the unknown parameter of the disturbance,and the estimated value is used to design a memoryless state observer and controller,which are both independent of time-delay. Based on the Lyapunov-Krasovskii function,it is shown that the observation error can converge asymtotically to zero. Simulation results illustrate the applicability of this method.