Related papers: Cascade Extended State Observer for Active Disturb…
This paper addresses the observability analysis and the optimal design of observation parameters in the presence of noisy measurements and parametric uncertainties. The main underlying frameworks are the nonlinear constrained moving horizon…
Observers are well known in control theory. Originally designed to estimate the hidden states of dynamical systems given some measurements, the observers scope has been recently extended to the estimation of some unknowns, for systems…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
The problem of estimating an unknown force driving a linear oscillator is revisited. When using linear measurement, feedback is often cited as a mechanism to enhance bandwidth or sensitivity. We show that as long as the oscillator dynamics…
This paper presents a parameter formula connecting the well-known proportional-integralderivative (PID) control and the active disturbance rejection control (ADRC). On the one hand, this formula gives a quantitative lower bound to the…
This paper presents an adaptive ensemble control for stochastic systems subject to asymmetric noises and outliers. Asymmetric noises skew system observations, and outliers with large amplitude deteriorate the observations even further. Such…
Extreme sensor sparsity makes full-field reconstruction a fundamentally ill-posed problem in scientific sensing,where the goal is to infer physical fields from sparse measurements.In this regime,the posterior is severely underconstrained…
This paper proposes a control strategy consisting of a robust controller and an Echo State Network (ESN) based control law for stabilizing a class of uncertain nonlinear discrete-time systems subject to persistent disturbances. Firstly, the…
In this note, we develop an adaptive observer for a class of nonlinear systems with switched unknown parameters to estimate the states and parameters simultaneously. The main challenge lies in how to eliminate the disturbance effect of…
Dynamical models are often corrupted by model uncertainties, external disturbances, and measurement noise. These factors affect the performance of model-based observers and as a result, affect the closed-loop performance. Therefore, it is…
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…
While many event-triggered control strategies are available in the literature, most of them are designed ignoring the presence of measurement noise. As measurement noise is omnipresent in practice and can have detrimental effects, for…
This paper considers the problem of designing interval observers for hidden mode switched nonlinear systems with bounded noise signals that are compromised by false data injection and switching attacks. The proposed observer consists of…
An observer framework is presented for robust regulation of RF cavity fields and localized identification of disturbances in RF systems. A standard cavity field observer is augmented with additional states to estimate the evolution of…
Sustained oscillations (SOs) are commonly observed in systems dominated by converters. Under specific conditions, even though the origin of SOs can be identified through negative damping modes using conventional linear analysis, utilizing…
This paper proposes a novel observer-based disturbance estimation method for high degree-of-freedom Euler-Lagrangian systems using an unknown input-output (UIO) sliding mode observer (SMO). Different from the previous SMO methods, this…
This work introduces a learning-enhanced observer (LEO) for linear time-invariant systems with uncertain dynamics. Rather than relying solely on nominal models, the proposed framework treats the system matrices as optimizable variables and…
This work proposes a nonlinear stochastic filter evolved on the Special Orthogonal Group SO(3) as a solution to the attitude filtering problem. One of the most common potential functions for nonlinear deterministic attitude observers is…
Utilization of noise for the control of a class of non-linear systems is presented. The application of state-multiplicative noise as a mean of control is far more limited then the use of standard determinis?tic gains. Nevertheless, so…