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Sensor delay-compensated prescribed-time observer for LTI systems
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DOI：10.1016/j.automatica.2021.110005.png)
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摘要
En 中文
We present an observer for linear time-invariant (LTI) systems with measurement delay. Our design ensures that the observer error converges to zero within a prescribed terminal time. To achieve this, we employ time-varying output gains that approach infinity at the terminal time, which can be arbitrarily short but no shorter than the sensor delay time. We model the sensor delay as a transport partial differential equation (PDE) and build upon the cascade ODE-PDE setting while accounting for the infinite dimensionality of the sensor. To construct our time-varying gains, the observer design needs to be conducted in a particular system representation. For this reason, we employ a sequence of state transformations (and their inverses) mapping the original observer error model into (1) the observer form, (2) a sensor delay-compensated observer error form via backstepping, and (3) a particular diagonal form that is amenable to the selection of time-varying gains for prescribed-time stabilization. Our construction of the time-varying observer gains uses (a) generalized Laguerre polynomials, (b) elementary symmetric polynomials, and (c) polynomial-based Vandermonde matrices. A simulation illustrates the results.(C) 2021 Elsevier Ltd. All rights reserved.
Keyword:
Infinite dimensional systems
Prescribed-time convergence
Delay-compensation
Observer design
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期刊
IF:
5.9
论文数:
1.2W
被引数:
5.2W
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