Observation of sampled-data nonlinear systems with delayed measurements and controls

Author

Martin, Gregory A. ; Taylor, David G.

Author_Institution

Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

Volume

1

fYear

1995

fDate

21-23 Jun 1995

Firstpage

280

Abstract

We derive discrete-time block and recursive observers for sampled-data nonlinear systems with measurements and control inputs that are delayed. The block observer is a discrete-time deadbeat observer, generalized to include systems under delayed control and sensing. The recursive observer is based on discrete-time gain scheduling, generalized to include systems under delayed control and sensing. Simulations are provided showing observer-based feedback control of a two-link robot arm

Keywords

discrete time systems; feedback; nonlinear systems; observers; sampled data systems; delayed measurements; discrete-time block; discrete-time deadbeat observer; discrete-time gain scheduling; nonlinear systems; observer-based feedback control; recursive observers; sampled-data systems; two-link robot arm; Control systems; Delay effects; Delay estimation; Delay systems; Electric variables measurement; Feedback control; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Sampling methods;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.529253

Filename

529253