Observer for Nonlinear Systems with Time-Varying Delays: Application to a Two-Degrees-of-Freedom Helicopter

Author:

Hernández-González Omar1ORCID,Ramírez-Rasgado Felipe23ORCID,Farza Mondher3,Guerrero-Sánchez María-Eusebia4ORCID,Astorga-Zaragoza Carlos-Manuel2ORCID,M’Saad Mohammed3,Valencia-Palomo Guillermo1ORCID

Affiliation:

1. Tecnológico Nacional de México, IT Hermosillo, Av. Tec. 115, Hermosillo 83170, Mexico

2. Tecnológico Nacional de México, Centro Nacional de Investigación y Desarrollo Tecnológico, Internado Palmira S/N, Col. Palmira, Cuernavaca 62490, Mexico

3. Laboratoire d’Ingénierie des Systèmes (LIS, UR7478, Université de Caen Normandie, École Nationale Supérieure d’Ingénieurs de Caen), 6 Bd. Maréchal Juin, 14050 Caen, France

4. CONAHCyT-Tecnológico Nacional de México, IT Hermosillo, Av. Tec. 115, Hermosillo 83170, Mexico

Abstract

This paper deals with the problem of the estimation of non-uniformly nonlinear systems with time-varying delays in the state and input. In addition, the problem of the sampled output measurement is also been addressed. Thus, an observer design for a class of uncertain, non-uniformly nonlinear systems in the presence of time-varying delay is proposed. A continuous–discrete observer based on a high-gain approach is designed to achieve undelayed estimation. Thus, sufficient conditions to ensure the convergence of the observer are obtained. The analysis is based on a Lyapunov–Krasovskii functional, which shows that the bounded observation error depends on the sizes of the known upper delay and the upper sampling rate. The performance of the proposed algorithm is evaluated by considering a control-based observer for a two-degrees-of-freedom helicopter system with a known time-varying delay and sampled output measurements.

Funder

Tecnológico Nacional de México under the program Proyectos de Investigación Científica y Desarrollo Tecnológico e Innovación

international network Red Internacional de Control y Cómputo Aplicado

Investigadoras e Investigadores por México Project 88

Doctoral Fellowship Assignment

“Agence Nationale de la Recherche”

Publisher

MDPI AG

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4. Luenberger-like observers for nonlinear time-delay systems with application to the artificial pancreas: The attainment of good performance;Borri;IEEE Control. Syst. Mag.,2017

5. Robust predictive extended state observer for a class of nonlinear systems with time-varying input delay;Sanz;Int. J. Control.,2020

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