A switched-gain nonlinear observer for LED optical communication

Ibrahima N'Doye, Ding Zhang, Ali Zemouche, Rajesh Rajamani, Taous Meriem Laleg-Kirati

Research output: Contribution to journalConference articlepeer-review

1 Scopus citations


Alignment for maintaining Line-of-Sight (LoS) between the receiver and the transmitter in a LED optical communication system is a challenging problem due to the constant movement of the underlying optical platform that is caused by vibration effects and atmospheric turbulence. In this paper, we propose a robust switched-gain nonlinear observer to estimate the angular position and velocity of the receiver orientation, which is used subsequently to follow the receiver orientation. The optical communication system model involves highly nonlinear and non-monotonic output measurement equations. Furthermore, tracking the receiver with perfect alignment results in loss of local observability. Hence, a two-receiver system is utilized to provide a robust tracking system that retains observability over the entire range of operation of the system. Lyapunov function-based analysis that ensures global stability is used to design the observer; then, a static feedback controller drives the receiver orientation based on the state estimate. Finally, numerical simulations are presented on the performance of the observer-based static feedback control in accurately estimating and tracking the angular position and velocity of the receiver orientation.

Original languageEnglish (US)
Pages (from-to)4941-4946
Number of pages6
Issue number2
StatePublished - 2020
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: Jul 12 2020Jul 17 2020

Bibliographical note

Funding Information:
This work has been supported by the King Abdullah University of Science and Technology (KAUST), Base Research Fund (BAS/1/1627-01-01) to Taous Meriem Laleg.

Publisher Copyright:
Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license


  • Based optical communication model
  • Hybrid systems
  • Light-emitting diode (LED)
  • Linear matrix inequality (LMI)
  • Monotonic systems
  • Nonlinear observer design
  • Nonlinear systems


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