Piecewise continuous observer design used for networked or visual servoing control systems

2012 ◽  
Author(s):  
H.P. Wang ◽  
Y. Tian ◽  
N. Christov ◽  
C. Vasseur
Keyword(s):  
Control Systems ◽  
Visual Servoing ◽  
Observer Design ◽  
Piecewise Continuous ◽  
Visual Servoing Control

Event-triggered piecewise-continuous observer design based on system output data received from network

2018 ◽  
Vol 40 (15) ◽  
pp. 4166-4174 ◽  
Author(s):  
Chengcheng Song ◽  
Haoping Wang ◽  
Yang Tian
Keyword(s):  
Continuous Time ◽  
Visual Servoing ◽  
Estimation Method ◽  
Observer Design ◽  
System State ◽  
Luenberger Observer ◽  
System Output ◽  
Delayed System ◽  
Piecewise Continuous ◽  
Event Triggered

This paper proposes an event-triggered piecewise-continuous observer (E-PCO) that can estimate continuous-time undelayed system state using event-triggered (aperiodic) sampled and delayed system output that is received from network. The key point of this estimation method is the design of three reconstructions and an event-triggered reduced-order discrete-time Luenberger observer (E-RODL-O). First, Reconstruction I compensates for the effects of event-triggered sampling. Based on Reconstruction I, the E-RODL-O is designed for obtaining a periodic sampled delayed system state. Then, Reconstruction II makes up for the influences of time delays, which brings the periodic sampled undelayed system state. Based on this, Reconstruction III finally calculates the continuous-time undelayed system state. Through some parameters selections, the stability of E-PCO system is guaranteed. The theoretical design is applied to a networked visual servoing mobile cart system for verifying its validity.

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