Output feedback controller for hysteretic time-delayed MIMO nonlinear systems

In this paper, an H ^?? output feedback controller is developed for a class of time-delayed MIMO nonlinear systems, containing backlash as an input nonlinearity. Particularly, a state observer is proposed to estimate unmeasurable states. The control law can be divided into two elements: An adaptive interval type-2 fuzzy part which approximates the uncertain model. The second part is an H ^??-based controller, which attenuates the effects of external disturbances and approximation errors to a prescribed level. Furthermore, the Lyapunov theorem is used to prove stability of proposed controller and its robustness to external disturbance, hysteresis input nonlinearity, and time varying time-delay. As an example, the designed controller is applied to address the tracking problem of 2-DOF robotic manipulator. Simulation results not only verify the robust properties but also in comparison with an existing method reveal the ability of the proposed controller to exclude the effects of unknown time varying time-delays and hysteresis input nonlinearity.