Related papers: Luenberger-Type Cubic Observers for State Estimati…
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…
In this note, we study Luenberger-type full-state observers for nonlinear systems using contraction theory. We show that if the matrix measure of a suitably defined Jacobian matrix constructed from the dynamics of the system-observer…
The state estimation of continuous-time nonlinear systems in which a subset of sensor outputs can be maliciously controlled through injecting a potentially unbounded additive signal is considered in this paper. Analogous to our earlier work…
This paper provides a new observer design methodology for invariant systems whose state evolves on a Lie group with outputs in a collection of related homogeneous spaces and where the measurement of system input is corrupted by an unknown…
In this paper it is showed that if a time-varying uncertain system is robustly completely detectable then there exists an estimator for this system, i.e. we can estimate asymptotically the state vector of the system. Moreover, if a…
A new approach to design of nonlinear observers (state estimators) is proposed. The main idea is to (i) construct a convex set of dynamical systems which are contracting observers for a particular system, and (ii) optimize over this set for…
The increasing use of data-driven control strategies gives rise to the problem of learning-based state observation. Motivated by this need, the present work proposes a data-driven approach for the synthesis of state observers for…
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…
We provide a systematic interval observer design method for detectable linear time-invariant (LTI) systems, where a part of the state is observable from the measured output. An observability-based invertible LTI transformation decomposes…
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…
Motivated by a recently proposed error estimator for the transfer function of the reduced-order model of a given linear dynamical system, we further develop more theoretical results in this work. Furthermore, we propose several variants of…
State observation is necessary for feedback control but often challenging for nonlinear systems. While Kazantzis-Kravaris/Luenberger (KKL) observer gives a generic design, its model-based numerical solution is difficult. In this paper, we…
In this paper we investigate a problem of state estimation for the dynamical system described by the linear operator equation with unknown parameters in Hilbert space. We present explicit expressions for linear minimax estimation and error…
Motivated by the need to predict dangerous scenarios, this article introduces a non-linear dynamic model for motorcycles consisting of four rigid bodies. Using Jourdain's principle, the model incorporates both longitudinal and lateral…
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 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…
Choosing a nonlinear state estimator for an application often involves a trade-off between local optimality (such as provided by an extended Kalman filter) and (almost-/semi-) global asymptotic stability (such as provided by a constructive…
This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated fundamental system structure. The concept of synchrony of…
In this paper we address the problem of state observation of linear time-varying systems with delayed measurements, which has attracted the attention of many researchers|see [7] and references therein. We show that, adopting the parameter…
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…