State estimation using randomly delayed measurements

A. Ray, L. W. Lion, J. H. Shen

Research output: Contribution to journalArticlepeer-review

100 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)19-26
Number of pages8
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number1
StatePublished - Mar 1993

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications


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