Search results for " sampled-data observer"

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State Observer with Round-Robin Aperiodic Sampled Measurements with Jitter

2021

International audience; A sampled-data observer is proposed for linear continuous-time systems whose outputs are sequentially sampled via non-uniform sampling intervals repeating a prescribed Round-Robin sequence. With constant sampling intervals (jitter-free case) we provide constructive necessary and sufficient conditions for the design of an asymptotic continuous-discrete observer whose estimation error is input-to-state stable (ISS) from process disturbances and measurement noise. We use a time-varying gain depending on the elapsed time since the last measurement. With non-constant sampling intervals (jitter-tolerant case), our design conditions are only sufficient. A suspension system …

0209 industrial biotechnologySequenceObserver (quantum physics)Noise (signal processing)020208 electrical & electronic engineeringlinear systemsSampling (statistics)02 engineering and technologyhybrid systemsAperiodic measurements Hybrid systems Linear systems Round-Robin scenario Sampled-data observerSampled-data observeraperiodic measurements[SPI.AUTO]Engineering Sciences [physics]/Automatic020901 industrial engineering & automationSettore ING-INF/04 - AutomaticaControl and Systems EngineeringControl theoryAperiodic graph0202 electrical engineering electronic engineering information engineeringState observerRound-Robin scenarioElectrical and Electronic EngineeringConstant (mathematics)JitterMathematics
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A hybrid observer for localization from noisy inertial data and sporadic position measurements

2023

We propose an asymptotic position and speed observer for inertial navigation in the case where the position measurements are sporadic and affected by noise. We cast the problem in a hybrid dynamics framework where the continuous motion is affected by unknown continuous-time disturbances and the sporadic position measurements are affected by discrete-time noise. We show that the peculiar hybrid cascaded structure describing the estimation error dynamics is globally finite-gain exponentially ISS with gains depending intuitively on our tuning parameters. Experimental results, as well as the comparison with an Extended Kalman Filter (EKF), confirm the effectiveness of the proposed solution with…

Settore ING-INF/04 - AutomaticaControl and Systems EngineeringLocalization sampled-data observer sporadic measurements hybrid cascaded systemsAnalysisComputer Science Applications
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