Finite-time estimation of second-order LTI systems in the presence of delayed measurement
Résumé
In this paper, we design a nonlinear observer for second-order linear time-invariant (LTI) systems in the observable form with measurement delay. The design guarantees the convergence of the error state to the origin within a finite-time that depends on the initial conditions. To accomplish this, we reformulate the original system into a cascade ODE-PDE system where the PDE part is a transport equation that models the effect of the delay on the output. We construct the nonlinear gains in a way that ensures the error system to be finite-time stable (FTS). To prove this, we use an invertible backstepping transformation to convert the error system into a target system which is shown to be finite-time stable using Lyapunov-based analysis and homogeneity tools. We use the inverse transformation to transfer this property to the error system.
Domaines
Automatique / Robotique
Fichier principal
Finite_time_estimation_of_second_order_LTI_systems_in_the_presence_of_delayed_measurement_(7).pdf (1.43 Mo)
Télécharger le fichier
Origine | Fichiers produits par l'(les) auteur(s) |
---|