Feedback delay compensation of a visual servoing system using a piecewise continuous and current estimator-based observer

Authors

ABDELDAFIA MOHAMMED
HAOPING WANG
YANG TIAN

DOI

10.3906/elk-1606-160

Abstract

In this paper, a piecewise continuous current estimator-based observer is proposed to estimate a plant's states using sampled and delayed measurements. The advantage of the proposed technique is simple in terms of analysis and design. Moreover, the proposed observer can compensate the time delay when the delay equals the sampling period. Comprehensive stability analysis of the designed observer is performed. In addition, to assess the efficiency and effectiveness of the proposed observer, a numerical comparative study with a Kalman filter-based observer is established and the simulation results are demonstrated.

Keywords

Piecewise continuous systems, sampled and delayed measurements, piecewise continuous current estimator

First Page

3738

Last Page

3751

Recommended Citation

MOHAMMED, ABDELDAFIA; WANG, HAOPING; and TIAN, YANG (2017) "Feedback delay compensation of a visual servoing system using a piecewise continuous and current estimator-based observer," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 25: No. 5, Article 20. https://doi.org/10.3906/elk-1606-160
Available at: https://journals.tubitak.gov.tr/elektrik/vol25/iss5/20