Compensation of Unknown Time Delay Measurement for Network Visual Servoing System Using Observation Design

In this paper, the sampled and delayed measurements subject to measurement noise are studied under the condition of the time delay being bounded, unknown, and time varying. The proposed observer is called "continuous state observer" and, based on the piecewise continuous hybrid system and on the extended functional observer, is derived to reconstruct the continuous system state without time delay from sampled and delayed measurements subject to measurement noise. The proposed observer has advantages which are represented by simple structure design and robust performance of the measurement noise. Another advantage of the proposed observer is that it considers the time delayed measurement to be a particular disturbance induced by the vision sensor. Moreover, the effectiveness of the continuous state observer is compared with the Chain observer over appropriate example, and the comparison results are established.