Title :
Observation of sampled-data nonlinear systems with delayed measurements and controls
Author :
Martin, Gregory A. ; Taylor, David G.
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
We derive discrete-time block and recursive observers for sampled-data nonlinear systems with measurements and control inputs that are delayed. The block observer is a discrete-time deadbeat observer, generalized to include systems under delayed control and sensing. The recursive observer is based on discrete-time gain scheduling, generalized to include systems under delayed control and sensing. Simulations are provided showing observer-based feedback control of a two-link robot arm
Keywords :
discrete time systems; feedback; nonlinear systems; observers; sampled data systems; delayed measurements; discrete-time block; discrete-time deadbeat observer; discrete-time gain scheduling; nonlinear systems; observer-based feedback control; recursive observers; sampled-data systems; two-link robot arm; Control systems; Delay effects; Delay estimation; Delay systems; Electric variables measurement; Feedback control; Nonlinear control systems; Nonlinear equations; Nonlinear systems; Sampling methods;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529253
