Related papers: A simple intrinsic reduced-observer for geodesic f…
Model-based controllers can offer strong guarantees on stability and convergence by relying on physically accurate dynamic models. However, these are rarely available for high-dimensional mechanical systems such as deformable objects or…
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…
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…
A geometric approach to integrability and reduction of dynamical system is developed from a modern perspective. The main ingredients in such analysis are the infinitesimal symmetries and the tensor fields that are invariant under the given…
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…
The problem of designing a flux observer for magnetic field electromechanical systems from noise corrupted measurements of currents and voltages is addressed in this paper. Imposing a constraint on the systems magnetic energy function,…
We develop methods for detecting and predicting the evolution of coherent spatiotemporal patterns in incompressible time-dependent fluid flows driven by ergodic dynamical systems. Our approach is based on representations of the generators…
The simulation of complex nonlinear engineering systems such as compressible fluid flows may be targeted to make more efficient and accurate the approximation of a specific (scalar) quantity of interest of the system. Putting aside modeling…
We discuss pseudo-Riemannian metrics on 2-dimensional manifolds such that the geodesic flow admits a nontrivial integral quadratic in velocities. We construct local normal forms of such metrics. We show that these metrics have certain…
We develop a geometric framework for irreversible transport phenomena in which macroscopic evolution equations arise from the combined structure of a thermodynamic state metric and an Onsager-based dissipation metric. The construction…
The Kosambi-Cartan-Chern (KCC) theory represents a powerful mathematical method for the analysis of dynamical systems. In this approach one describes the evolution of a dynamical system in geometric terms, by considering it as a geodesic in…
We develop a framework for localized source detection in dynamical systems governed by nonlinear partial differential equations based on first and second-order sensitivity analysis. Building on the standard adjoint formulation, which…
This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the…
We define a formal Riemannian metric on a given conformal class of metrics on a closed Riemann surface. We show interesting formal properties for this metric, in particular the curvature is nonpositive and the Liouville energy is…
This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector measurement (e.g., magnetometer), and a distance measurement…
This paper considers the observer design problem for discrete-time nonlinear dynamical systems with sampled measurement data. Earlier, the recently proposed Iteratively Preconditioned Gradient-Descent (IPG) observer, a Newton-type observer,…
There has been much recent interest in the necessity of an observer degree of freedom in the description of local algebras in semiclassical gravity. In this work, we describe an example where the observer can be constructed intrinsically…
We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential…
In 2004, Manning showed that the topological entropy of the geodesic flow of a closed surface of non-constant negative curvature is strictly decreasing along the normalized Ricci flow, and he asked if an analogous result holds in higher…
In this article we study geodesic flows on closed Riemannian manifolds without conjugate points and divergence property of geodesic rays. If the fundamental group is Gromov hyperbolic and residually finite we prove, under appropriate…