Cascade Observer Design for Uncertain Nonlinear Systems under Time-Delay

Resumen: In this work a full-state observer is presented for non-uniform observable nonlinear systems in presence of uncertainties and delayed output. The observer has a cascade structure, which is based on a high-gain observer that estimates the delayed state. Subsequently, the cascade structure has m subsystems, each one estimating a part of the total delay. The last subsystem gives the delay-free state estimation. Then, it is possible to establish that the observation error will converge to a bounded value depending on the magnitude of the time delay and uncertainties. In a delay-free case the error converges to zero. The proposed cascade observer is tested to estimate the friction factor in a pipeline with delayed-output measurement.

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Felipe Ramírez-Rasgado, Omar Hernandez Gonzalez, Carlos Astorga-Zaragoza, Juan Reyes-Reyes, Gloria-Lilia Osorio-Gordillo, Guillermo Valencia-Palomo & Galaz Bustamante Rafael Armando. Cascade Observer Design for Uncertain Nonlinear Systems under Time-Delay. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

Nonlinear systems, delayed output, uncertain system and cascade observer

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