Research On State Observation Of Sampling And Delay Output System

In recent years,with the rapid development of network communication and sensor technology,networked visual servo control systems combining network control and visual servo have gained more and more attention.This type of control system has many advantages,such as fewer wire connections,high flexibility,and more effective sampling information.However,in practical application,the output of the networked visual servo control system is often sampled and delayed,and the system is affected by non-linearity,unknown input disturbances and output measurement noise.This article comprehensively considers the issues of sampling,delay,unknown input disturbance,and measurement noise,and will focus on the state observer design of the networked visual servo control system to reconstruct the continuous state without delay of the system.The specific research content is as follows:(1)The relevant sampling and time delay characteristics of the networked vision servo control system are analyzed,and a linear model of this type of system is given.Then the important theoretical basis of this paper is introduced,namely piecewise continuous systems.The related definition and the characteristics of the system are given.(2)To deal with observer design problem for linear systems with sampled and delayed output,considering that the time delay and sampling interval are both variable and unknown,a proportional and integral piecewise continuous observer is designed and its stability is proved.This observer combines piecewise continuous systems with the advantage that the state of the observer will be re-initialized at each sampling moment,which can prevent estimation errors from accumulating and thus obtain more accurate results.Compared with the existing observer through numerical simulation by MATLAB/SIMULINK,the effectiveness of the proposed observer is proved.(3)For a class of linear systems with sampled and delayed output and subjected to unknown input disturbance,considering a situation where the sampling interval is fixed but the delay is unknown and time-varying,an extended piecewise continuous observer is designed.The observer treats the delay as the network disturbance,estimates it and uses it to compensate for the delay.The specific design steps of the observer are given and the stability of the observer is analyzed by using the Lyapunov stability theorem.Then,the proposed observer is compared with the Lyapunov-Krasovskii observer by numerical simulation,and the effectiveness of the observer is verified.(4)For a class of Lipschitz nonlinear system with sampled and delayed output,and is disturbed by unknown input and measurement noise,considering the case where the sampling interval is fixed but the delay is unknown and time-varying,a hybrid extended function observer is designed.The observer treats the output delay and measurement noise equivalent as the output disturbance of the system,and then designed with the concept of a piecewise continuous system.At the same time,the corresponding stability proof is given.Finally,it is compared with the continuous observer by numerical simulation to verify the effectiveness of the proposed observer.