Observer-based stabilisation of a class of nonlinear systems in the presence of measurement delay

ABSTRACT

In this paper, the stabilising control problem for a class of nonlinear system in the presence of measurement delay is addressed. A full-order observer is designed to eliminate the effect of variable output time delay, which is bounded and known. Then, the estimated states are utilised for the state feedback control law to stabilise the considered control system. Lyapunov–Razumikhin approach is employed to analyse the stability of the closed-loop system. Unlike the previous work, the exponential convergence of the estimation error is ensured, rather than asymptotic convergence, by designing a delay-dependent gain of the observer. Moreover, comparison with similar work is also made in simulation to illustrate the effectiveness of the proposed strategy.

KEYWORDS:

• Time delay system
• nonlinear system
• observer-based control
• measurement delay

Acknowledgements

The authors would like to sincerely express their appreciation to the editor-in-chief Eric Rogers, and the anonymous reviewers for their constructive comments which helped improve the quality and readability of this paper.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

National Natural Science Foundation of China [grant number 61374048]; the Research Fund for Doctoral Program of Higher Education of China under [grant number 20121102110008].