Observer design for discrete-time systems subject to long time-delay

Yiming Zhang (1) , Vincent Sircoulomb (1) , Nicolas Langlois (1)

1 IRSEEM - Institut de Recherche en Systèmes Electroniques Embarqués

This paper addresses the problem of designing a classical observer extended to dynamical discrete-time systems with constant delays. The idea of two forms of state observers is presented to compensate fixed time-delay. Convergence conditions have been found to ensure the stability of the error dynamics and the related gains may be selected based on a set of linear matrix inequality (LMI). The results show that the compensation-based state observer is much superior in dealing with time-delay in the case that the buffer permits us to transform the time-delay system into a fixed time-delay system. Simulation and experimental results are provided to demonstrate the advantage of the proposed observation technique.

Mots clés: Kalman filters; Linear matrix inequalities; Estimation error; Equations; Delay; Observers

Domaines: Automatique / Robotique

Yiming Zhang, Vincent Sircoulomb, Nicolas Langlois. Observer design for discrete-time systems subject to long time-delay. 2012 24th Chinese Control and Decision Conference (CCDC), May 2012, Taiyuan, China. pp.2949-2954, ⟨10.1109/CCDC.2012.6244465⟩. ⟨hal-02296960⟩