Related papers: Attitude Observer on SO(3) with Time-Varying Refer…
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…
This paper is devoted to analyzing the observer convergence rate for a class of linear control systems in a Hilbert space. To characterize the polynomial stability of the observer error system, we apply the spectral theory of linear…
In this paper, we study the construction of Lyapunov functions based on first order approximations. In a first part, the study of local exponential stability property of a transverse invariant manifold is considered. This part is mainly a…
This paper is concerned with the stability analysis of encrypted observer-based control for linear continuous-time systems. Since conventional encryption has limited ability to deploy in continuous-time integral computation, our work…
A Lyapunov design method is used to analyze the nonlinear stability of a generic reservoir computer for both the cases of continuous-time and discrete-time dynamics. Using this method, for a given nonlinear reservoir computer, a radial…
In this paper, a concurrent learning based adaptive observer is developed for a class of second-order linear time-invariant systems with uncertain system matrices. The developed technique yields an exponentially convergent state estimator…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
In this paper, existence conditions and a design procedure of reduced-order switched positive observers for continuous- and discrete-time switched positive linear systems with uncertainty are established. In the analyzed class, arbitrary…
In this paper we are interested in the problem of adaptive state observation of linear time-varying (LTV) systems where the system and the input matrices depend on unknown time-varying parameters. It is assumed that these parameters satisfy…
This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…
Observer design for linear systems with aperiodic sampled-data measurements is addressed. To solve this problem, a novel hybrid observer is designed. The main peculiarity of the proposed observer consists of the use two output injection…
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…
Takagi-Sugeno (T-S) type of polytopic models have been used prominently in the literature to analyze nonlinear systems. With the sector nonlinearity approach, an exact representation of a nonlinear system within a sector could be obtained…
The stability analysis of a class of discontinuous discrete-time systems is studied in this paper. The system under study is modeled as a feedback interconnection of a linear system and a set-valued nonlinearity. An equivalent…
This paper presents some new criteria for partial exponential stability of a slow-fast nonlinear system with a fast scalar variable using periodic averaging methods. Unlike classical averaging techniques, we construct an averaged system by…
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)…
We prove a motivic stabilization result for the cohomology of the local systems on configuration spaces of varieties over $\mathbb{C}$ attached to character polynomials. Our approach interprets the stabilization as a probabilistic…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
This paper revisits the problems of estimating the position of an object moving in $n$ ($\geq 2$)-dimensional Euclidean space using velocity measurements and either direction or range measurements of one or multiple source points. The…
We propose an observer for a SIR epidemic model. The observer is then uplifted into a predictor to compensate for time delays in the input and the output. Tuning criteria are given for tuning gains of the predictor, while the…