Related papers: Development of an Ideal Observer that Incorporates…
Standard methods of data assimilation assume prior knowledge of a model that describes the system dynamics and an observation function that maps the model state to a predicted output. An accurate mapping from model state to observation…
This work attempts to discuss the observability of linear time-invariant systems with event-triggered measurements. A new notion of observability, namely, $\epsilon$-observability is defined with parameter $\epsilon$, which relates to the…
This paper targets control problems that exhibit specific safety and performance requirements. In particular, the aim is to ensure that an agent, operating under uncertainty, will at runtime strictly adhere to such requirements. Previous…
This paper presents results on the solvability of the observer design problem for general nonlinear triangular systems with inputs, under weak observability assumptions. The local state estimation is exhibited by means of a delayed…
Existing model evaluation tools mainly focus on evaluating classification models, leaving a gap in evaluating more complex models, such as object detection. In this paper, we develop an open-source visual analysis tool, Uni-Evaluator, to…
In this paper, we propose fixed-order set-valued (in the form of l2-norm hyperballs) observers for some classes of nonlinear bounded-error dynamical systems with unknown input signals that simultaneously find bounded hyperballs of states…
This paper addresses the robustness of a prescribed-time observer for a class of nonlinear systems in the presence of disturbances and unmodeled dynamics. It is proven and demonstrated through simulations that the proposed observer…
In several application fields like daily pluviometry data modelling, or motion analysis from image sequences, observations contain two components of different nature. A first part is made with discrete values accounting for some symbolic…
Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a…
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
This paper concerns the distributed observer for the descriptor linear system. Unlike centralized descriptor system observers, in the case of distributed observers, each agent either finds it difficult to independently eliminate impulses,…
Model Predictive Control (MPC) is often tuned by trial and error. When a baseline linear controller exists that is already well tuned in the absence of constraints and MPC is introduced to enforce them, one would like to avoid altering the…
An important feature of pervasive, intelligent assistance systems is the ability to dynamically adapt to the current needs of their users. Hence, it is critical for such systems to be able to recognize those goals and needs based on…
The design of a nonlinear Luenberger observer for a parametrized linear SISO (single-input single-output) system is studied. From an observability assumption of the system, the existence of such an observer is concluded. In a second step, a…
We routinely perform procedures (such as cooking) that include a set of atomic steps. Often, inadvertent omission or misordering of a single step can lead to serious consequences, especially for those experiencing cognitive challenges such…
Takagi-Sugeno (T-S) type of polytopic models have been used prominently in the literature to analyze nonlinear systems. With the sector nonlinearity approach, an exact representation of a nonlinear system within a sector could be obtained…
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 investigates the effectiveness of factorial speech processing models in noise-robust automatic speech recognition tasks. For this purpose, the paper proposes an idealistic approach for modeling state-conditional observation…
This paper proposes a new extended-state observer-based framework for adaptive nonlinear regulator design of a class of nonlinear systems, in the general nonequilibrium theory. By augmenting an extended-state observer with an internal…
This paper is devoted to the design of full order proportional-integral observer for the state estimation of discrete-time linear time-invariant systems. In particular, explicit necessary and sufficient conditions are established for the…