Related papers: On Angular Speed Estimation of Rigid Bodies
We derive sufficient conditions for the solvability of the state estimation problem for a class of nonlinear control time-varying systems which includes those, whose dynamics have triangular structure. The state estimation is exhibited by…
In this letter, we study the case of autonomous agents which are required to move to some new position based solely on the distance measured from predetermined reference points, or anchors. A novel approach, referred to as…
Most of the advanced control systems use sensor-based feedback for robust control. Tilt angle estimation is key feedback for many robotics and mechatronics applications in order to stabilize a system. Tilt angle cannot be directly measured…
A method for determining the dimension and state space geometry of inertial manifolds of dissipative extended dynamical systems is presented. It works by projecting vector differences between reference states and recurrent states onto local…
We propose a technique for the design and analysis of adaptation algorithms in dynamical systems. The technique applies both to systems with conventional Lyapunov-stable target dynamics and to ones of which the desired dynamics around the…
While stability analysis is a mainstay for control science, especially computing regions of attraction of equilibrium points, until recently most stability analysis tools always required explicit knowledge of the model or a high-fidelity…
We investigate in real-life conditions and with very high accuracy the dynamics of body rotation, or yawing, of walking pedestrians - an highly complex task due to the wide variety in shapes, postures and walking gestures. We propose a…
We study the fixed angle inverse scattering problem of determining a sound speed from scattering measurements corresponding to a single incident wave. The main result shows that a sound speed close to constant can be stably determined by…
Although stable solutions of dynamical systems are typically considered more important than unstable ones, unstable solutions have a critical role in the dynamical integrity of stable solutions. In fact, usually, basins of attraction…
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…
Video processing solutions for motion analysis are key tasks in many computer vision applications, ranging from human activity recognition to object detection. In particular, speed estimation algorithms may be relevant in contexts such as…
We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding technique and Lyapunov stability theory. The stable embedding…
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…
The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…
Stability analysis plays a crucial role in studying the behavior of dynamical systems with theoretical and engineering applications. Among various kinds of stability, the stability of equilibrium points is of the greatest importance which…
Automotive synthetic aperture radar (SAR) can achieve a significant angular resolution enhancement for detecting static objects, which is essential for automated driving. Obtaining high resolution SAR images requires precise ego vehicle…
We derive the metric of an accelerating observer moving with non-constant proper acceleration in flat spacetime. With the exception of a limiting case representing a Rindler observer, there are no horizons. In our solution, observers can…
The paper deals with the extremum seeking problem for a class of cost functions depending only on a part of state variables of a control system. This problem is related to the concept of partial asymptotic stability and analyzed by…
In the present paper, an analysis was performed on the torque-free motion of a rigid body, developing Euler's analytical solution and Poinsot's geometric solution. From mathematical formulations, the analytical solution for the time…
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…