Universal adaptive regulation for a class of nonlinear systems with unknown time delays and output function via output feedback

This paper investigates the adaptive output feedback control problem for a class of nonlinear systems with unknown time delays and output function. The system satisfies linear growth condition with an unknown growth rate. First of all, based on a dynamic gain scaling technique, we present a new dynamic high-gain observer without requiring precise information of the output function. Then, by employing the idea of universal control and the backstepping method, a universal adaptive output feedback control law is designed to globally regulate all the states of the system. A simulation example is presented to illustrate the effectiveness of the proposed design scheme.