Related papers: Higher-Order Nonlinear Complementary Filtering on …
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…
In this paper we consider estimating the system parameters and designing stable observer for unknown noisy linear time-invariant (LTI) systems. We propose a Support Vector Regression (SVR) based estimator to provide adjustable asymmetric…
The problem of state estimation has a long history with many successful algorithms that allow analytical derivation or approximation of posterior filtering distribution given the noisy observations. This report tries to conclude previous…
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…
In this paper we consider the distributed estimation problem for continuous-time linear time-invariant (LTI) systems. A single linear plant is observed by a network of local observers. Each local observer in the network has access to only…
In this paper, we propose a novel nonlinear observer based on neural networks, called neural observer, for observation tasks of linear time-invariant (LTI) systems and uncertain nonlinear systems. In particular, the neural observer designed…
This paper addresses the problem of distributed state estimation for discrete-time linear time-invariant systems. Building on the framework proposed in Gao & Yang (2025), we exploit the Jordan canonical form of the system matrix to develop…
State estimation for a class of linear time-invariant systems with distributed output measurements (distributed sensors) and unknown inputs is addressed in this paper. The objective is to design a network of observers such that the state…
Control and state estimation of nonlinear systems satisfying a Lipschitz continuity condition have been important topics in nonlinear system theory for over three decades, resulting in a substantial amount of literature. The main criticism…
We discuss a design approach for nonlinear discrete-time adaptive observer. This involves transforming a nonlinear system into a quasi-LPV (Linear Parameter Varying) polytopic model in Takagi-Sugeno (T-S) form using nonlinear embedding and…
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observability) informs better estimator design. Among the research on…
Autonomous platforms require accurate positioning to complete their tasks. To this end, a Kalman filter-based algorithms, such as the extended Kalman filter or invariant Kalman filter, utilizing inertial and external sensor fusion are…
We revisit the gradient based nonlinear attitude complementary filters (observers) on the Special Orthogonal group SO(3) and provide explicit solutions of the norm of the attitude estimation error dynamics. One smooth and two non-smooth…
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…
Designing observers for linear systems with both known and unknown inputs is an important problem in several research contexts, for example, fault diagnosis and fault-tolerant control, and cyber-secure control systems, and presents…
In this paper, a high-order nonlinear continuous integral-derivative observer is presented based on finite-time stability and singular perturbation technique. The proposed integral-derivative observer can not only obtain the multiple…
This paper deals with the problem of predicting the future state of discrete-time input-delayed systems in the presence of unknown disturbances that can affect both the state and the output equations of the plant. Since the disturbance is…
This paper presents a low-dimensional observer design for stable, single-input single-output, continuous-time linear time-invariant (LTI) systems. Leveraging the model reduction by moment matching technique, we approximate the system with a…
This paper presents an algorithm to improve state estimation for legged robots. Among existing model-based state estimation methods for legged robots, the contact-aided invariant extended Kalman filter defines the state on a Lie group to…
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…