A cascade observer for a class of MIMO non uniformly observable systems with delayed sampled outputs

Hernández-González, Omar; Farza, M.; Ménard, Tomas; Targui, Boubekeur; M’Saad, M.; Astorga‐Zaragoza, C.M.

doi:10.1016/j.sysconle.2016.10.006

Cited by 31 publications

(18 citation statements)

References 26 publications

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“…Indeed, only the transmitted signals have to be sampled, not the input. Continuous-discrete time observers, which reconstruct the state in continuous time from discrete-time measurements, have been greatly developed these last years, as in [4,12] for dierent classes of nonlinear systems, and are then used here to tackle the problem of leaderfollowing consensus where only discrete-time outputs are transmitted through the network. It should be noted that these works only consider the observer design, the convergence is obtained by assuming that the input belongs to a bounded set and then cannot be applied directly to the problem considered here.…”

Section: Introductionmentioning

confidence: 99%

Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs

et al. 2020

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This paper is concerned with the leader-following consensus problem for a class of Lipschitz nonlinear multi-agent systems with uncertain dynamics, where each agent only transmits its noisy output, at discrete instants and independently from its neighbors. The proposed consensus protocol is based on a continuous-discrete time observer, which provides a continuous time estimation of the state of the neighbors from their discrete-time output measurements, together with a continuous control law. The stability of the multi-agent system is analyzed with a Lyapunov approach and the exponential practical convergence is ensured provided that the tuning parameters and the maximum allowable sampling period satisfy some inequalities. The proposed protocol is simulated on a multi-agent system whose dynamics are ruled by a Chua's oscillator.

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Section: Introductionmentioning

confidence: 99%

Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs

et al. 2020

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“…We propose an observer which provides a continuous estimate of the state based on multirate outputs. The design considered here is based on the approach proposed in [7] for a class of uniformly observable systems and extended in [5] for perturbed systems and in [12] for a class of non-uniformly observable systems. A limitation of the existing results is that multi-rate outputs cannot be managed.…”

Section: Introductionmentioning

confidence: 99%

Observer design for nonlinear systems with multi-rate sampled outputs - Application to attitude estimation

Bonargent¹,

Ménard²,

Pigeon³

et al. 2020

2020 European Control Conference (ECC)

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The present paper proposes an observer for a class of nonlinear systems with multi-rate sampled outputs. Each output can have irregular and aperiodic sampling rate independent of the others. This work extends previous studies on high gain observer to permit the estimation of multi-rated output systems. The stability is proved by using a Lyapunov approach, providing that the sampling rates of each outputs are respectively smaller than their associated upper bound. The observer is then applied to the attitude estimation problem.

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“…Indeed, the case of uniformly observable systems has been considered in (Farza et al 2014), and in (Bouraoui et al 2015) for the case of measurement noises and uncertainties in the dynamics. Non uniformly observable systems have also been considered in (Hernández-González et al 2016 Finally, Section 5 concludes the article. The proof of the results presented in this article are reported in the appendix for clarity purpose.…”

Section: Introductionmentioning

confidence: 99%

Observer-based consensus for second-order multi-agent systems with arbitrary asynchronous and aperiodic sampling periods

et al. 2019

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To cite this version:Tomas Menard, Emmanuel Moulay, Patrick Coirault, Michael Defoort. Observer-based consensus for second-order multi-agent systems with arbitrary asynchronous and aperiodic sampling periods. Automatica, Elsevier, 2019, 99, pp. AbstractA novel distributed consensus protocol, where only sampled position information is exchanged between neighboring agents, is designed for second-order multi-agent systems under a directed communication topology. This protocol allows to reach the consensus for asynchronous and aperiodic sampling periods, which means that every agent can send its measurements independently from its neighbors. Furthermore, the upper bound on the sampling periods can be chosen arbitrarily long by adapting the tuning parameters. This result is obtained by using a continuous-discrete time observer which allows to reconstruct the system state in real time from only discrete-time measurements. The feedback control gain is set according to the observer gain which is itself set according to the maximum sampling period.

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A cascade observer for a class of MIMO non uniformly observable systems with delayed sampled outputs

Cited by 31 publications

References 26 publications

Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs

Leader-following consensus for multi-agent systems with nonlinear dynamics subject to additive bounded disturbances and asynchronously sampled outputs

Observer design for nonlinear systems with multi-rate sampled outputs - Application to attitude estimation

Observer-based consensus for second-order multi-agent systems with arbitrary asynchronous and aperiodic sampling periods

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