It would require to significantly delay european industrialisation. The less implausible way would be to nerf England, as it had OTL both the ressources and the capital for undergo this change and eventually launch it in Europe.
It wouldn't be delayed much, but if you have a longer mercantilist and manufactorian capitalism (aka more a statist initiative than going from private capital) you may end with a different industrialisation (not that much different tough, such stuff isn't going to last forever) and with European powers that while effectivly taking over African coasts and rivals (I'm thinking of Asia), would have less immediate interest on taking over all the world.
But eventually, it would appear. At least you have some chances to end with a 20th century European Imperialism

(Yeah, that's cheating. But I won't apologize).