State Estimation Using Randomly Delayed Measurements

[+] Author and Article Information
A. Ray, L. W. Liou, J. H. Shen

Mechanical Engineering Depratment, The Pennsylvania State University, University Park, PA 16802

J. Dyn. Sys., Meas., Control 115(1), 19-26 (Mar 01, 1993) (8 pages) doi:10.1115/1.2897399 History: Received March 01, 1991; Revised April 01, 1992; Online March 17, 2008


This paper presents a modification of the conventional minimum variance state estimator to accommodate the effects of randomly varying delays in arrival of sensor data at the controller terminal. In this approach, the currently available sensor data is used at each sampling instant to obtain the state estimate which, in turn, can be used to generate the control signal. Recursive relations for the filter dynamics have been derived, and the conditions for uniform asymptotic stability of the filter have been conjectured. Results of simulation experiments using a flight dynamic model of advanced aircraft are presented for performance evaluation of the state estimation filter.

Copyright © 1993 by The American Society of Mechanical Engineers
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