This paper deals with observer-based tracking controller design for time-delay switched fuzzy system with unmeasurable premise variables. A switched fuzzy system, which integrates fuzzy and switching features, can describe continuous and discrete modes and complex nonlinear phenomena of objective reality as well as their coupling and interactions. A fuzzy state observer is investigated for estimating the unmeasured states and unmeasurable premise variables. The stability and the switching control law based on measured state of the dynamic errors system are then analyzed by multiple Lyapunov function approach. In this study, the H∞ tracking control problem of a time-delay switched fuzzy system is solvable, which some sub time-delay fuzzy systems are allowed to be unstable. The variation-of-constants formula is used to overcome the difficulties caused by the estimation error and exotic disturbance. Finally, a competitive experiment on an R/C hovercraft is given to demonstrate the effectiveness of the proposed control schemes.
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