Variable sampled delayed feedback observer design for networked visual servoing systems

摘要

The present paper deals with a new continuous undelayed state observer design approach by using only the sampled and delayed measurements where the sampling period and delayed value are variable and unknown. This proposed piecewise continuous observer, which is derived by using the theory of a particular hybrid systems called Piecewise Continuous Systems, has a very simple structure and can be easily implemented to the networked visual servoing systems. The observer stability is also analyzed and demonstrated. To show the proposed observer performance, a comparison with a Lyapunov-Krasovskii technique and descriptor representation based observer is conducted via a numerical example.