Related papers: Continuous globally exponential rigid-body angular…
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…
In this paper it is showed that if a time-varying uncertain system is robustly completely detectable then there exists an estimator for this system, i.e. we can estimate asymptotically the state vector of the system. Moreover, if a…
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…
We construct a class of global, dynamical solutions to the 3d Euler equations near the stationary state given by uniform "rigid body" rotation. These solutions are axisymmetric, of Sobolev regularity, have non-vanishing swirl and scatter…
This paper deals with the problem of estimating the state of a linear time-invariant system in the presence of sporadically available measurements and external perturbations. An observer with a continuous intersample injection term is…
In this letter we show that although the application of standard Lyapunov analysis predicts that completely integrable Kepler motion is unstable, the geometrical analysis of Horwitz et al [1] predicts the observed stability. This seems to…
Motivated by attitude control and attitude estimation problems for a rigid body, computational methods are proposed to propagate uncertainties in the angular velocity and the attitude. The nonlinear attitude flow is determined by…
This article develops and proposes a geometric nonlinear proportional-integral-derivative (PID) type tracking control scheme on the Lie group of rigid body rotations, SO(3). Like PD-type attitude tracking control schemes that have been…
This work is devoted to the construction of feedback laws which guarantee the robust global exponential stability of the uncongested equilibrium point for general discrete-time freeway models. The feedback construction is based on a control…
It is well know that for globally contractive autonomous systems, there exists a unique equilibrium and the distance to the equilibrium evaluated along any trajectory decreases exponentially with time. We show that, additionally, the…
Successful control of a rigid-body rotating in three dimensional space requires accurate estimation of its attitude. The attitude dynamics are highly nonlinear and are posed on the Special Orthogonal Group $SO(3)$. In addition, measurements…
The design of a position observer for the interior permanent magnet synchronous motor is a challenging problem that, in spite of many research efforts, remained open for a long time. In this paper we present the first globally exponentially…
This work presents two novel solvers for estimating the relative poses among views with known vertical directions. The vertical directions of camera views can be easily obtained using inertial measurement units (IMUs) which have been widely…
We study the convergence of a discrete Luenberger observer for the barotropic Euler equations in one dimension, for measurements of the velocity only. We use a mixed finite element method in space and implicit Euler integration in time. We…
This paper continues our work [19] on sharp Alexandrov estimates. We obtain a sharp global uniform distance estimate from a convex function to the class of unimodular convex quadratic polynomials in terms of the total variation of its…
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…
In this paper, we investigate the asymptotic behaviors of the solutions of nonlinear dynamic systems nearby an equilibrium point, when the nominal parts are subject to non necessarily small perturbations. We show that, under some estimates…
This paper considers a system modelling the evolution of a rigid body immersed in a bidimensional incompressible perfect fluid. In the special case of a disk-shaped rigid body, it was shown by C. Rosier and L. Rosier (2009) that the system…
The time evolution of the continuous measure symmetry for the system built of the three bodies interacting via the potential U(r)~1/r is reported. Gravitational and electrostatic interactions between the point bodies were addressed. In the…
By employing an accelerated weighting method, we establish arbitrary polynomial and exponential pointwise convergence for multiple ergodic averages under general balancing conditions in both discrete and continuous settings, including…