An observer for a class of nonlinear systems with multiple state and measurement delays: A differential geometry-based approach
European Journal of Control, ISSN: 0947-3580, Vol: 56, Page: 132-141
2020
- 4Citations
- 6Captures
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Article Description
This paper presents an observer for a class of nonlinear systems, suitably affine in the input and the delayed terms, with constant, known, and arbitrarily large time-delays in both internal and output variables. It is assumed that the system at hand is globally drift-observable and that the function describing the dynamics is globally Lipschitz. Moreover, it is assumed that the system at hand admits full uniform observation relative degree. A differential geometry-based approach is followed. The well-known chain procedure is employed in order to deal with arbitrarily large output delay. It is proved that, for any given delays at states and output, there exist a suitable gain matrix and a Hurwitz matrix, involved in the observer algorithm, such that, when a sufficiently large number of chain elements are employed, the observation error converges asymptotically to zero. The effectiveness of the proposed method is illustrated by numerical examples.
Bibliographic Details
http://www.sciencedirect.com/science/article/pii/S0947358019300366; http://dx.doi.org/10.1016/j.ejcon.2020.02.010; http://www.scopus.com/inward/record.url?partnerID=HzOxMe3b&scp=85082808755&origin=inward; https://linkinghub.elsevier.com/retrieve/pii/S0947358019300366; https://api.elsevier.com/content/article/PII:S0947358019300366?httpAccept=text/xml; https://api.elsevier.com/content/article/PII:S0947358019300366?httpAccept=text/plain; https://dul.usage.elsevier.com/doi/; https://dx.doi.org/10.1016/j.ejcon.2020.02.010
Elsevier BV
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