Related papers: Attitude Observer on SO(3) with Time-Varying Refer…
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…
This technical note studies Lyapunov-like conditions to ensure a class of dynamical systems to exhibit predefined-time stability. The origin of a dynamical system is predefined-time stable if it is fixed-time stable and an upper bound of…
Lyapunov functions are popularly used to investigate the stabilization problem of systems of hyperbolic conservation laws with boundary controls. In real life applications often not every boundary value can be observed. In this work, we…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
Several results regarding the stability and the stabilization of linear impulsive positive systems under arbitrary, constant, minimum, maximum and range dwell-time are obtained. The proposed stability conditions characterize the pointwise…
We begin with a scenario that involves point-like observers starting at t=0 from the origin O of an inertial reference frame. They move with all possible proper accelerations in the positive direction of the OX axis. Equipped with light…
This paper considers the design of nonlinear observers for invariant systems posed on finite-dimensional connected Lie groups with measurements generated by a transitive group action on an associated homogeneous space. We consider the case…
In this paper, we propose a suboptimal moving horizon estimator for nonlinear systems. For the stability analysis we transfer the "feasibility-implies-stability/robustness" paradigm from model predictive control to the context of moving…
We consider the one-dimensional quasilinear heat equation with state-dependent heat capacity and thermal conductivity, and design a boundary-output observer based on the backstepping design for a linear heat equation with constant…
We consider the problem of distributed attitude estimation of multi-agent systems, evolving on $SO(3)$, relying on individual angular velocity and relative attitude measurements. The interaction graph topology is assumed to be an undirected…
An adaptive observer is proposed to estimate the synaptic distribution between neurons asymptotically from the measurement of a part of the neuronal activity and a delayed neural field evolution model. The convergence of the observer is…
This paper proposes a real-time neural network (NN) stochastic filter-based controller on the Lie Group of the Special Orthogonal Group $SO(3)$ as a novel approach to the attitude tracking problem. The introduced solution consists of two…
We propose globally exponentially convergent continuous observers for invariant kinematic systems on finite-dimensional matrix Lie groups. Such an observer estimates, from measurements of landmarks, vectors and biased velocity, both the…
This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the…
In this paper, we apply the recently developed generalized parameter estimation-based observer design technique for state-affine systems to the practically important case of linear time-varying descriptor systems with uncertain parameters.…
This paper is concerned with relationships of Lyapunov exponents with sensitivity and stability for non-autonomous discrete systems. Some new concepts are introduced for non-autonomous discrete systems, including Lyapunov exponents, strong…
We provide a detailed proof of Proposition 3.1 in the paper titled ``Backstepping control of a class of space-time-varying linear parabolic PDEs via time invariant kernel functions''. In the paper titled ``Backstepping control of a class of…
This paper studies cooperative tracking problem of heterogeneous Euler-Lagrange systems with an uncertain leader. Different from most existing works, system dynamic knowledge of the leader node is unaccessible to any follower node in our…
There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…
Hyperexponential stability is investigated for dynamical systems with the use of both, explicit and implicit, Lyapunov function methods. A nonlinear hyperexponential control is designed for stabilizing linear systems. The tuning procedure…