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This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
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 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 presents a low-dimensional observer design for stable, single-input single-output, continuous-time linear time-invariant (LTI) systems. Leveraging the model reduction by moment matching technique, we approximate the system with a…
A new adaptive observer is proposed for a certain class of nonlinear systems with bounded unknown input and parametric uncertainty. Unlike most existing solutions, the proposed approach ensures asymptotic convergence of the unknown…
This paper proposes a novel distributed interval observer design for linear time-invariant (LTI) discrete-time systems subject to bounded disturbances. In the proposed observer algorithm, each agent in a networked group exchanges…
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,…
The design of unknown-input decoupled observers and filters requires the assumption of an existence condition in the literature. This paper addresses an unknown input filtering problem where the existence condition is not satisfied. Instead…
A nonlinear observer on the Special Euclidean group $\mathrm{SE(3)}$ for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is proposed. The observer derivation is based on a recent advanced…
A hybrid observer is described for estimating the state of a system of the form dot x=Ax, y_i=C_ix, i=1,...,m. The system's state x is simultaneously estimated by m agents assuming agent i senses y_i and receives appropriately defined data…
Although an appropriate choice of measured state variables may ensure observability, designing state observers for the state estimation of epidemic models remains a challenging task. Epidemic spread is a nonlinear process, often modeled as…
In this paper we address the problem of state observation for sensorless control of nonlinear magnetic levitation systems, that is, the regulation of the position of a levitated object measuring only the voltage and current of the…
This paper introduces a novel recursive distributed estimation algorithm aimed at synthesizing input and state interval observers for nonlinear bounded-error discrete-time multi-agent systems. The considered systems have sensors and…
This paper considers fault estimation in nonlinear fractional order systems in observer form. For this aim, a step by step second order sliding mode observer is used. By means of a fractional inequality, the stability of the observer…
A high-gain extended observer is designed for a class of nonlinear uncertain systems. This observer has the ability of estimating system uncertainty, and it can be used to estimate the derivatives of signal up to order n. The controller…
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)…
This paper considers the problem of designing interval observers for hidden mode switched nonlinear systems with bounded noise signals that are compromised by false data injection and switching attacks. The proposed observer consists of…
For arbitrary linear time-invariant systems, the existence of a strong functional observer is investigated. Such observer determines, from the available measurement on the plant, an estimate of a function of the state and the input. This…
This paper presents three non-linear observers on three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This…
This work presents a scalable control framework based on nonlinear Model Predictive Control for high-dimensional dynamical systems. The proposed approach addresses the key challenges of model scalability and partial observability by…