Related papers: Non-linear Symmetry-preserving Observer on Lie Gro…

In [1], it is established that a convergent observer with an infinite gain margin can be designed for a given nonlinear system when a Riemannian metric showing that the system is differentially detectable (i.e., the Lie derivative of the…

An adaptive state observer is proposed for a class of overparametrized uncertain linear time-invariant systems without restrictive requirement of their representation in the observer canonical form. It evolves the method of generalized…

This paper addresses the problem of estimating the position of an object moving in $R^n$ from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to…

In control theory, researchers need to understand a system's local and global behaviors in relation to its initial conditions. When discussing observability, the main focus is on the ability to analyze the system using an output space…

This paper presents results on the solvability of the observer design problem for general nonlinear triangular systems with inputs, under weak observability assumptions. The local state estimation is exhibited by means of a delayed…

This work introduces a learning-enhanced observer (LEO) for linear time-invariant systems with uncertain dynamics. Rather than relying solely on nominal models, the proposed framework treats the system matrices as optimizable variables and…

The paper deals with the observer design problem for a wide class of triangular nonlinear time-varying systems. The results of the present work generalize previous results in the literature dealing with the observer design problem for…

We study how convergence of an observer whose state lives in a copy of the given system's space can be established using a Riemannian metric. We show that the existence of an observer guaranteeing the property that a Riemannian distance…

In this paper we present a radically new approach to design state observers for nonlinear systems, with particular emphasis on physical ones. Our objective is to obtain an algebraic relation between the unmeasurable part of the state and…

This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…

In this paper we propose a (non-linear) smoothing algorithm for group-affine observation systems, a recently introduced class of estimation problems on Lie groups that bear a particular structure. As most non-linear smoothing methods, the…

This paper examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a trajectory on a Riemannian manifold by analyzing the…

A simply structured distributed observer is described for estimating the state of a discrete-time, jointly observable, input-free, linear system whose sensed outputs are distributed across a time-varying network. It is explained how to…

We propose a globally exponentially convergent observer for the dynamical system evolving on matrix Lie groups with bounded velocity with unknown bound. We design the observer in the ambient Euclidean space and show exponential convergence…

This paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range of electromechanical systems, including magnetic levitation…

This paper is devoted to analyzing the observer convergence rate for a class of linear control systems in a Hilbert space. To characterize the polynomial stability of the observer error system, we apply the spectral theory of linear…

This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, whose gain is determined only by the unstable modes of the…

Control and state estimation of nonlinear systems satisfying a Lipschitz continuity condition have been important topics in nonlinear system theory for over three decades, resulting in a substantial amount of literature. The main criticism…

Observer design typically requires the observability of the underlying system, which may be hard to verify for nonlinear systems, while guaranteeing asymptotic convergence of errors, which may be insufficient in order to satisfy performance…

In this paper we are interested in the problem of state observation of state-affine nonlinear systems. Our main contribution is to propose a globally exponentially convergent observer that requires only the necessary assumption of…