Related papers: A simple intrinsic reduced-observer for geodesic f…
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…
This paper is devoted to the geometric analysis of the incompressible averaged Euler equations on compact Riemannian manifolds with boundary. The equation also coincides with the model for a second-grade non-Newtonian fluid. We study the…
We consider a multi-dimensional model of a compressible fluid in a bounded domain. We want to estimate the density and velocity of the fluid, based on the observations for only velocity. We build an observer exploiting the symmetries of the…
Foundations of a new projection-based model reduction approach for convection dominated nonlinear fluid flows are summarized. In this method the evolution of the flow is approximated in the Lagrangian frame of reference. Global basis…
In this note, we study Luenberger-type full-state observers for nonlinear systems using contraction theory. We show that if the matrix measure of a suitably defined Jacobian matrix constructed from the dynamics of the system-observer…
Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…
This paper presents a novel cascaded observer architecture that combines optical flow and IMU measurements to perform continuous monocular visual-inertial odometry (VIO). The proposed solution estimates body-frame velocity and gravity…
Relativistic hydrodynamics of an isentropic fluid in a gravitational field is considered as the particular example from the family of Lagrangian hydrodynamic-type systems which possess an infinite set of integrals of motion due to the…
In this paper we study the geodesic flow for a particular class of Riemannian non-compact manifolds with variable pinched negative sectional curvature. For a sequence of invariant measures we are able to prove results relating the loss of…
An ideal compressible fluid is considered, with an equilibrium density being a given function of coordinates due to presence of some static external forces. The slow flows in such system, which do not disturb the density, are investigated…
The geometric quantization of the geodesic flow on a compact Riemannian manifold via the BKS "dragging projection" yields the Laplacian plus a scalar curvature term. To avoid convergence issues, the standard construction involves somewhat…
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
A method is proposed to estimate the velocity field of an unsteady flow using a limited number of flow measurements. The method is based on a non-linear low-dimensional model of the flow and on expanding the velocity field in terms of…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
This paper studies nonlinear observer design for rigid-body extended pose estimation using inertial measurements and generic exteroceptive sensing. The estimation problem is formulated as a cascade architecture that separates translational…
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…
An explicit expression for the Jacobi metric for a general Lagrangian system is obtained as a series expansion in the square root of the kinetic energy of the system and the corresponding geodesics are described in terms of an appropriate…
This paper explores the observability and estimation capability of dynamical systems using predominantly relative measurements of the system's state-space variables, with minimal to no reliance on absolute measurements of these variables.…
By identifying Hamiltonian flows with geodesic flows of suitably chosen Riemannian manifolds, it is possible to explain the origin of chaos in classical Newtonian dynamics and to quantify its strength. There are several possibilities to…
As most mathematically justifiable Lagrangian coherent structure detection methods rely on spatial derivatives, their applicability to sparse trajectory data has been limited. For experimental fluid dynamicists and natural scientists…