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State estimation for nonlinear systems with delayed output measurements

Khosravian Hemami, Alireza; Trumpf, Jochen; Mahony, Robert

Description

In this paper, we consider the problem of state estimation for nonlinear systems when the output measurements are delayed. We assume an observer is available that takes the delayed outputs and estimates the delayed states of the system. We propose a novel predictor that takes the delayed estimates from the observer and fuses them with the current input measurements of the system to compensate for the delay. We provide a rigorous stability analysis for globally Lipschitz systems...[Show more]

CollectionsANU Research Publications
Date published: 2015
Type: Conference paper
URI: http://hdl.handle.net/1885/102857
DOI: 10.1109/CDC.2015.7403216

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