Integrated event-based fuzzy adaptive control with dual-end delay compensation for time-varying delay systems with partially unmeasurable states

In this paper, an integrated event-based fuzzy adaptive control with dual-end delay compensation strategy is proposed for time-varying delay systems with partially unmeasurable states. To address the challenges of unmeasurable states and unmodeled dynamic characteristics, a fuzzy event-based delay-compensated observer (FEDCO) is designed. Simultaneously, an integrated delay-aware event-based mechanism (IDAEM) is proposed for explicitly sensing time-varying delays. This mechanism determines not only the timing of control law updates but also the timing of observer gain and estimated delay adjustments. The proposed controller significantly reduces communication overhead while maintaining good tracking performance. Furthermore, the semi-global uniform ultimate boundedness of the closed-loop signals is established under explicit parameter conditions, and the Zeno phenomenon is excluded by constructing a Lyapunov-Krasovskii (L-K) functional. Finally, two practical simulation examples verify the effectiveness of the proposed method.