Design and Realizations of Networked Estimators: A Descriptor Model Approach

Abstract

This paper addresses the design and realization of a networked estimator, which requires further digital implementation using several subsystems. Implementation on a digital process entails finite word length effects on the coefficients' representation, and a multiple-subsystem architecture also introduces internal time delays in the information interaction. Dealing with these intrinsic defects requires finding a resilient realization. A corresponding descriptor model-based approach is thus constructed to describe the internal time delays and equivalent realizations with finite word length effects in a unifying framework, which enables simultaneous consideration of design and realization. Based on the obtained descriptor model, a stability analysis condition is deduced and a design method for the estimator is further obtained. An algorithm is also proposed for finding the optimal realization requiring the minimum word length for stabilization. Finally, a simulation with two cooperative robots is considered to illustrate the effectiveness of the results. INDEX TERMS Estimation, system implementation, finite word length effects, delay systems.

State feedback H ∞ control for a class of affine nonlinear singular systems: Input restricting approach

“…Singular models are the models in which two sets of differential equations and algebraic equations are simultaneously used to describe the dynamics of different systems. These models, including conventional state-space models as a special case, provide a novel analysis and design tool in various real world applications covering several theoretical fields like modern control techniques [12][13][14][15][16][17], as well as a wide range of practical systems including electrical and power systems [18][19][20], robotic and mechanical systems [21,22], biological systems [23][24][25] and chemical processes [26].…”