@inproceedings{b1e91d7eeb4d4b159899f8d2addd481c,
title = "State estimation for nonlinear systems with delayed output measurements",
abstract = "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 demonstrating that the prediction of the system state converges (asymptotically/exponentially) to the current system trajectory if the observer state converges (asymptotically/exponentially) to the delayed system state. The predictor is computationally simple as it is recursively implementable with a set of delay differential equations. We demonstrate the performance of the proposed predictor via simulation studies.",
keywords = "Convergence, Current measurement, Delays, Nonlinear systems, Observers, Stability analysis, Trajectory",
author = "Lireza Khosravian and Ochen Trumpf and Obert Mahony",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 54th IEEE Conference on Decision and Control, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",
year = "2015",
month = feb,
day = "8",
doi = "10.1109/CDC.2015.7403216",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "6330--6335",
booktitle = "54rd IEEE Conference on Decision and Control,CDC 2015",
address = "United States",
}