DocumentCode :
3535839
Title :
Estimator design for a subsonic rocket car (soft landing) based on state-dependent delay measurement
Author :
Ahmed, Arif ; Verriest, Erik I.
Author_Institution :
Dept. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fYear :
2013
fDate :
10-13 Dec. 2013
Firstpage :
5698
Lastpage :
5703
Abstract :
We design an estimator for the position of a rocket car. The scheme is based on a novel idea of delay measurements in a realistic scenario. Ultrasonic sensors are used to give the measurement of the delay. The delay depends implicitly on the state of the system. This gives rise to a time delay system with a state-dependent delay which is a challenging research avenue. The central theme is to use inversion of the delay model and to extract the state vector given the delay. The overall system is nonlinear because of the state-dependent delay. We design an asymptotic observer for estimating the position of the system using delay information. We call or refer to this new technique as Delay Injection. We show that the error dynamics involve a time-varying delay instead of a state-dependent delay and this makes the problem tractable. A brief outline of the nonlinear observation for the autonomous system is also given. Though rocket car is a particular motivating example, the approach presented in this article can be used for the on-line estimation of states of generic systems from state-dependent delays affecting the system dynamics. Simulation results are given at the end which demonstrate the effectiveness, validity and usefulness of the proposed scheme.
Keywords :
automobiles; control system synthesis; delay systems; mobile robots; nonlinear control systems; observers; rocket engines; ultrasonic transducers; asymptotic observer; autonomous system; delay information; delay injection; error dynamics; estimator design; nonlinear observation; nonlinear system; online state estimation; rocket car position estimation; soft landing; state vector; state-dependent delay; state-dependent delay measurement; subsonic rocket car; system dynamics; time delay system; time-varying delay; ultrasonic sensors; Delays; Equations; Mathematical model; Observers; Rockets; Stability analysis; Vehicle dynamics; Estimator design; asymptotic observer; delay measurements; rocket car; state-dependent delay;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
ISSN :
0743-1546
Print_ISBN :
978-1-4673-5714-2
Type :
conf
DOI :
10.1109/CDC.2013.6760787
Filename :
6760787
Link To Document :
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