An Enhanced Observer for Nonlinear Systems With Time-Varying Measurement Delays

In this article, we propose an observer for a class of Lipschitz nonlinear systems affected by time-varying and known measurement delays, which is an improvement of the one presented by Cacace et al ., 2014. Under the assumption that the delay function is piecewise continuous and differentiable, we...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2021-12, Vol.66 (12), p.5968-5973
Main Authors: Cacace, Filippo, Germani, Alfredo, Manes, Costanzo
Format: Article
Language:English
Subjects:
Continuity (mathematics)
Convergence
Decay rate
Delay systems
Nonlinear systems
Observers
Time measurement
Time-varying systems
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Summary:In this article, we propose an observer for a class of Lipschitz nonlinear systems affected by time-varying and known measurement delays, which is an improvement of the one presented by Cacace et al ., 2014. Under the assumption that the delay function is piecewise continuous and differentiable, we prove that exponential convergence to zero of the observation error can be achieved with any desired decay rate, by suitably tuning a gain vector. The delay bound achieved with the observer proposed here is less conservative than the one obtained by Cacace et al. , 2014, as confirmed by numerical tests. For the sake of brevity, in this article, only one-step observers are considered. However, a cascade observer can be arranged to cope with arbitrarily long delays.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2020.3046723