Related papers: Global Exponential Angular Velocity Observer for R…

This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…

Exponentially stable extended adaptive observer is proposed for a class of linear time-invariant systems with unknown parameters and overparameterization. It allows one to reconstruct unmeasured states and bounded external disturbance…

In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…

For nonlinear analytic control systems, we introduce a new paradigm for dynamic output feedback stabilization. We propose to periodically sample the usual observer based control law, and to reshape it so that it coincides with a ''control…

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…

The paper proposes a technique to estimate the angular velocity of a rigid body from vector measurements. Compared to the approaches presented in the literature, it does not use attitude information nor rate gyros as inputs. Instead, vector…

This paper presents an adaptive observer design for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction characteristics parameterized by a matrix of unknown coefficients appearing in the nonlinear (and possibly…

We propose a framework to analyze stability for a class of linear non-autonomous hybrid systems, where the continuous evolution of solutions is governed by an ordinary differential equation and the instantaneous changes are governed by a…

We propose a systematic and comprehensive procedure for the construction of synergistic potential functions, which are instrumental in hybrid control design on SO(3). A new map via angular warping on SO(3) is introduced for the construction…

We analyze robust stability, in an input-output sense, of switched stable systems. The primary goal (and contribution) of this paper is to design switching strategies to guarantee that input-output stable systems remain so under switching.…

Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit $n$-sphere $\mathbb{S}^n$ typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space.…

In the present paper, we study observer design and we establish some sufficient conditions for practical exponential stability for a class of time-delay nonlinear systems written in triangular form. In case of delay, the exponential…

Various methods are nowadays available to design observers for broad classes of systems, where the primary focus is on establishing the convergence of the estimated states. Nevertheless, the question of the tuning of the observer to achieve…

We consider a PDE-ODE model of a flexible satellite that is composed of two identical flexible solar panels and a center rigid body. We prove that the satellite model is exponentially stable in the sense that the energy of the solutions…

A symmetry-preserving, reduced-order state observer is presented for the unmeasured part of a system's state, where the nonlinear system dynamics exhibit symmetry under the action of a Lie group. Leveraging this symmetry with a moving…

In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias)…

For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…

Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…

This paper deals with the exponential stabilization of a time-delay system with an average of the state as the output. A general stability theorem with a guaranteed exponential decay-rate based on a Wirtinger-based inequality is provided.…

This paper addresses the problem of simultaneous estimation of the position, linear velocity and orientation of a rigid body using single bearing measurements. We introduce a Riccati observer-based estimator that fuses measurements from a…