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Motivated by engineering applications of subsea installation by deepwaterconstruction vessels in oil drilling, and of aid delivery by unmanned aerialvehicles in disaster relief, we develop output-feedback boundary control ofheterodirectional coupled hyperbolic PDEs sandwiched between two ODEs, wherethe measurement is the output state of one ODE and suffers a time delay. Afterrewriting the time-delay dynamics as a transport PDE of which the left boundaryconnects with the sandwiched system, a state observer is built to estimate thestates of the overall system of ODE-heterodirectional coupled hyperbolicPDEs-ODE-transport PDE using the right boundary state of the last transportPDE. An observer-based output-feedback controller acting at the first ODE isdesigned to stabilize the overall system using backstepping transformations andfrequency-domain designs. The exponential stability results of the closed-loopsystem, boundedness and exponential convergence of the control input areproved. The obtained theoretical result is applied to control of a deepwateroil drilling construction vessel as a simulation case, where the simulationresults show the proposed control design reduces cable oscillations and placesthe oil drilling equipment to be installed in the target area on the sea floor.Performance deterioration under extreme and unmodeled disturbances is alsoillustrated.

Delay-Compensated Control of Sandwiched ODE-PDE-ODE Hyperbolic Systems for Oil Drilling and Disaster Relief