DOI: 10.3724/SP.J.1004.2013.00237

Acta Automatica Sinica (自动化学报) 2013/39:3 PP.237-243

State Estimation Subject to Random Communication Delays

The state estimation problem is studied for the networked control systems subject to random communication delays and the measurements without time stamps. With the random delay bounded by one step only, a new measurement model is proposed for possibly out-of-sequence measurements. For unstable systems, to guarantee that the estimator is linear unbiased and the estimation error covariance is uniformly bounded, we show that the estimator structure is given based on the average of all received measurements at each time. The estimator gains can be derived by solving a set of recursive discrete-time Riccati equations. The estimator is guaranteed to be optimal in the sense that it is unbiased with uniformly bounded estimation error covariance. A simulation example shows the effectiveness of the proposed algorithm.

Key words:State estimation, networked control systems, random time delay, Riccati equations

ReleaseDate:2014-07-21 17:04:10

Funds:Basic Research Program of China (973 Program) (2009CB320600), National Natural Science Foundation of China (61120106011, 61104050, 61203029), and Natural Science Foundation of Shandong Province (ZR2011FQ020)