Related papers: Observer-Based Controller Design for Systems on Ma…
We propose a globally exponentially convergent observer for the dynamical system evolving on matrix Lie groups with bounded velocity with unknown bound. We design the observer in the ambient Euclidean space and show exponential convergence…
The paper is devoted to the observability study of a dynamic system, which describes the vibrations of an elastic beam with an attached rigid body and distributed control actions. The mathematical model is derived using Hamilton's principle…
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…
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…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
This paper utilizes the recently proposed cubic observer to estimate the state of a class of nonlinear systems. The cubic observer is proposed as an alternative to linear observers for improved convergence rate and robustness. It is shown…
This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…
This paper extends the application of a recently proposed nonlinear observer (cubic observer) for state estimation of linear systems with unknown inputs and delays. The generalized structure proposed here, makes it possible to establish a…
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…
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…
We consider the problem of adaptive observer design in the settings when the system is allowed to be nonlinear in the parameters, and furthermore they are to satisfy additional feasibility constraints. A solution to the problem is proposed…
In this paper, we extend the control contraction metrics (CCM) approach, which was originally proposed for the universal tracking control of nonlinear systems, to those that evolves on Lie groups. Our idea is to view the manifold as a…
We propose a new model predictive control (MPC) approach which is completely based on an observer for the state system. For this, we show semiglobally practically asymptotic stability of the closed loop for an abstract observer and…
We propose a modification technique for discrete time systems for exponentially fast convergence to compact sets. The extension technique allows us to use tools defined on Euclidean spaces to systems evolving on manifolds by modifying the…
An impulsive feedback-adaptive control is developed in order to drive trajectories of a dynamical system towards an invariant manifold with fixed and spaced impulsive controls. The approach requires the explicit knowledge of the set of…
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…
In this paper we give a geometrical framework for the design of observers on finite-dimensional Lie groups for systems which possess some specific symmetries. The design and the error (between true and estimated state) equation are explicit…
This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. The observer is based on the approximation and subsequent modification of the non-negative Lyapunov…