Dissertation/Thesis Abstract

An Observer for State Estimation in the Presence of Multiple Measurement Delays
by Won, Jeffrey K., M.S., California State University, Long Beach, 2019, 73; 13858591
Abstract (Summary)

A major challenge of implementing wireless sensor networks in the feedback control of dynamic systems is dealing with the time delays inherent in the wireless network. If not properly addressed, these delays can cause instabilities and failures in the control system. This thesis proposes a remedy to this problem: a Delay-Compensating Estimator (DCE) which uses the delayed measurements, along with the known linearized dynamics of the system being measured, to predict the current, un-delayed state of the system. This is achieved via a Luenberger observer with an induced delay in the observer feedback which matches the expected delay of the sensors, similar in concept to the Smith predictor. The design methodology for the DCE is expounded on, and delay robustness is considered in comparison to a classic Luenberger observer. Finally, an application of the DCE to real-time control of a double inverted pendulum on a cart is presented.

Indexing (document details)
Advisor: Shankar, Praveen
Commitee: Marayong, Panadda, Demircan, Emel
School: California State University, Long Beach
Department: Mechanical and Aerospace Engineering
School Location: United States -- California
Source: MAI 81/1(E), Masters Abstracts International
Source Type: DISSERTATION
Subjects: Mechanical engineering, Aerospace engineering
Keywords: Controls, Estimation, Time delays
Publication Number: 13858591
ISBN: 9781085558143
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