Related papers: Observer design for triangular systems under weak …
Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…
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,…
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…
The issue of single range based observability analysis and observer design for the kinematics model of a 3D vehicle subject to a constant unknown drift velocity is addressed. The proposed method departs from alternative solutions to the…
In this paper, we deal with the problem of the stabilization in the sample-and-hold sense, by emulation of continuous-time, observer-based, global stabilizers. Fully nonlinear time-delay systems are studied. Sufficient conditions are…
This paper presents novel polytopic and interval observer designs for uncertain linear continuous-time (CT) and discrete-time (DT) systems subjected to bounded disturbances and noise. Our approach guarantees enclosure of the true state and…
This paper studies the reduced-order or full-order, dead-beat observer problem for a class of nonlinear systems, linear in the unmeasured states. A novel hybrid observer design strategy is proposed, with the help of the notion of strong…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
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…
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…
Parameter estimation-based observer (PEBO) is a recently developed constructive tool to design state observers for nonlinear systems. It reformulates the state estimation problem as one of online parameter identification, effectively…
In this paper the explicit necessary and sufficient conditions for the existence of reduced order proportional-integral observer for the state estimation of continuous-time linear time-invariant systems are established. A procedure is given…
This paper proposes local exponential observers for systems on linear Lie groups. We study two different classes of systems. In the first class, the full state of the system evolves on a linear Lie group and is available for measurement. In…
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…
Observers are well known in control theory. Originally designed to estimate the hidden states of dynamical systems given some measurements, the observers scope has been recently extended to the estimation of some unknowns, for systems…
The article is devoted to the problem of synthesis of observers of state variables for linear stationary objects operating under conditions of noise or disturbances in the measurement channel. The paper considers a fully observable linear…
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…
State estimation for linear time-invariant systems with unknown inputs is a fundamental problem in various research domains. In this article, we establish conditions for the design of unknown input observers (UIOs) from a geometric approach…
A method of designing observers and observer-based tracking controllers is proposed for nonlinear systems on manifolds via embedding into Euclidean space and transversal stabilization. Given a system on a manifold, we first embed the…
This paper shows how the theory of nonlinear adaptive observers can be effectively used in the design of internal models for nonlinear output regulation. The theory substantially enhances the existing results in the context of {\em…