Related papers: Simultaneous State and Unknown Input Set-Valued Ob…
A geometric nonlinear observer algorithm for Simultaneous Localization and Mapping (SLAM) developed on the Lie group of \mathbb{SLAM}_{n}\left(3\right) is proposed. The presented novel solution estimates the vehicle's pose (i.e. attitude…
This paper addresses the problem of Simultaneous Localization and Mapping (SLAM) for rigid body systems in three-dimensional space. We introduce a new matrix Lie group SE_{3+n}(3), whose elements are composed of the pose, gravity, linear…
A robust controller is developed for uncertain, second-order nonlinear systems subject to simultaneous unknown, time-varying state delays and known, time-varying input delays in addition to additive, sufficiently smooth disturbances. An…
We present a geometric approach to designing distributed unknown input observers (DUIOs) for linear time-invariant systems, where measurements are distributed across nodes and each node is influenced by \emph{unknown inputs} through…
This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, whose gain is determined only by the unstable modes of the…
Obtaining initial conditions and parameterizations leading to a model consistent with available measurements or safety specifications is important for many applications. Examples include model (in-)validation, prediction, fault diagnosis,…
The problem of stationary robust L_infinity-induced deconvolution filtering for the uncertain continuous-time linear stochastic systems is addressed. The state space model of the system contains state- and input-dependent noise and…
We investigate the finite time stability property of one-dimensional nonautonomous initial boundary value problems for linear decoupled hyperbolic systems with nonlinear boundary conditions. We establish sufficient and necessary conditions…
State estimation constitutes a core task in monitoring, supervision, and control of dynamic systems. This paper proposes a data-driven framework for the design of state observers for descriptor systems. Necessary and sufficient conditions…
We study supervisory switching control for partially-observed linear dynamical systems. The objective is to identify and deploy the best controller for the unknown system by periodically selecting among a collection of $N$ candidate…
Linear dynamical systems are canonical models for learning-based control of plants with uncertain dynamics. The setting consists of a stochastic differential equation that captures the state evolution of the plant understudy, while the true…
This paper addresses the problem of selecting the minimum number of dedicated sensors to achieve observability in the presence of unknown inputs, namely, the state and input observability, for linear time-invariant systems. We assume that…
We consider linear time invariant systems with exogenous stochastic disturbances, and in feedback with structured stochastic uncertainties. This setting encompasses linear systems with both additive and multiplicative noise. Our concern is…
This paper characterizes a new parametrization of nonlinear networked incrementally $L_2$-bounded operators in discrete time. The distinctive novelty is that our parametrization is \emph{free} -- that is, a sparse large-scale operator with…
We introduce the notions of semi-uniform input-to-state stability and its subclass, polynomial input-to-state stability, for infinite-dimensional systems. We establish a characterization of semi-uniform input-to-state stability based on…
This paper considers the problem of linear time-invariant (LTI) system identification using input/output data. Recent work has provided non-asymptotic results on partially observed LTI system identification using a single trajectory but is…
This paper presents an adaptive observer design for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction characteristics parameterized by a matrix of unknown coefficients appearing in the nonlinear (and possibly…
In this paper we address the problem of state observation for sensorless control of nonlinear magnetic levitation systems, that is, the regulation of the position of a levitated object measuring only the voltage and current of the…
This paper considers fault estimation in nonlinear fractional order systems in observer form. For this aim, a step by step second order sliding mode observer is used. By means of a fractional inequality, the stability of the observer…
This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabilisation algorithm…