Related papers: Observability analysis of sensorless synchronous m…

In this paper, the relationship between notions of observability for continuous-time nonlinear system related to distinguishability, observability rank condition and K-function has been investigated. It is proved that an autonomous…

This paper focuses on learning efficient sensor allocations that ensure observability of unknown high-dimensional linear systems using only a small number of sensors. Existing methods either require an impractically large number of sensors…

The design of feedback control systems to block observability in a network synchronization model, i.e. to make the dynamics unobservable from measurements at a subset of the network's nodes, is studied. First, a general design algorithm is…

System identification is a key step for model-based control, estimator design, and output prediction. This work considers the offline identification of partially observed nonlinear systems. We empirically show that the certainty-equivalent…

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…

Oscillation synchronization phenomenon is widely observed in natural systems through frequency modulated signals, especially in biological neural networks. Frequency modulation is also one of most widely used technologies in engineering.…

This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…

Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…

The stabilization of nonlinear systems under zero-state-detectability assumption or its analogues is considered. The proposed supervisory control provides a finite time practical stabilization of output and it is based on uniting local and…

This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. The observer is based on the approximation and subsequent modification of the non-negative Lyapunov…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…

The study of computing in presence of faulty robots in the Look-Compute-Move model has been the object of extensive investigation, typically with the goal of designing algorithms tolerant to as many faults as possible. In this paper, we…

A mobile robot system consists of anonymous mobile robots, each of which autonomously performs sensing, computation, and movement according to a common algorithm, so that the robots collectively achieve a given task. There are two main…

Rotating machines like engines, pumps, or turbines are ubiquitous in modern day societies. Their mechanical parts such as electrical engines, rotors, or bearings are the major components and any failure in them may result in their total…

In this paper, we consider the problem of scattering a swarm of mobile oblivious robots in a continuous space. We consider the fully asynchronous setting where robots may base their computation on past observations, or may be observed by…

In this paper, a novel adaptive-gain Second Order Sliding Mode (SOSM) observer is proposed for multicell converters by considering it as a class of hybrid systems. The aim is to reduce the number of voltage sensors by estimating the…

This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…

Nonlinear contraction theory is a comparatively recent dynamic control system design tool based on an exact differential analysis of convergence, in essence converting a nonlinear stability problem into a linear time-varying stability…

This paper proposes methods for reachability analysis of nonlinear systems in both open loop and closed loop with advanced controllers. The methods combine hybrid zonotopes, a construct called a state-update set, functional decomposition,…