Related papers: Gradient-like observers for invariant dynamics on …
Linear observed systems on groups encode the geometry of a variety of practical state estimation problems. In this paper, we propose an observer framework for a class of linear observed systems by restricting a bi-invariant system on a Lie…
Observer design for linear systems with aperiodic sampled-data measurements is addressed. To solve this problem, a novel hybrid observer is designed. The main peculiarity of the proposed observer consists of the use two output injection…
Designing Luenberger observers for nonlinear systems involves the challenging task of transforming the state to an alternate coordinate system, possibly of higher dimensions, where the system is asymptotically stable and linear up to output…
This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depending on a generic potential function) evolving on…
In this paper we introduce an observer design framework for ordinary differential equation (ODE) systems based on various types of existing or even novel one-parameter symmetries (exact, asymptotic and variational) ending up with a certain…
For linear time-invariant systems, a separation principle holds: stable observer and stable state feedback can be designed for the time-invariant system, and the combined observer and feedback will be stable. For non-linear systems, a local…
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…
We first develop systematic and comprehensive interval observer designs for linear time-invariant (LTI) systems, under standard assumptions of observability and interval bounds on the initial condition and uncertainties. Traditionally, such…
We study state estimation for nonlinear differential-algebraic systems, where the nonlinearity satisfies a Lipschitz condition or a generalized monotonicity condition or a combination of these. The presented observer design unifies earlier…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
A systematic procedure to synthesize interval observers for nonlinear discrete-time systems is proposed. The feedback gains and other matrices are found from the solutions to semidefinite feasibility programs. Two cases are considered: (1)…
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…
The Koopman operator approach to the state estimation problem for nonlinear systems is a promising research area. The main goal of this paper is an attempt to provide a rigorous theoretical framework for this approach. In particular, the…
The paper deals with the observer design problem for a wide class of triangular time-varying nonlinear systems, with unobservable linearization. Sufficient conditions are derived for the existence of a Luenberger-type observer, when it is a…
We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis…
This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the…
Linear observed systems on manifolds are a special class of nonlinear systems whose state spaces are smooth manifolds but possess properties similar to linear systems. Such properties can be characterized by preintegration and exact…
We present a hybrid scheme for the parameter and state estimation of nonlinear continuous-time systems, which is inspired by the supervisory setup used for control. State observers are synthesized for some nominal parameter values and a…
The paper deals with joint state and parameter estimation for nonlinear continuous-time systems. Based on a guaranteed LPV approximation, the set adaptive observers design problem is solved avoiding the exponential complexity obstruction…
Symmetry groups allow to transform solutions of differential equations continuously into other solutions. This property can be used for the observability analysis of infinite-dimensional systems with input and output. In this contribution,…