Related papers: Ultra Local Nonlinear Unknown Input Observers for …

This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…

This paper proposes a new extended-state observer-based framework for adaptive nonlinear regulator design of a class of nonlinear systems, in the general nonequilibrium theory. By augmenting an extended-state observer with an internal…

Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial…

This paper presents a data-driven approach for designing state observers for continuous-time nonlinear systems, where an extended dynamic mode decomposition (EDMD) procedure is used to identify an approximate linear lifted model. Since such…

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…

Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…

Various methods are nowadays available to design observers for broad classes of systems. Nevertheless, the question of the tuning of the observer to achieve satisfactory estimation performance remains largely open. This paper presents a…

This paper explores the problem of selecting sensor nodes for a general class of nonlinear dynamical networks. In particular, we study the problem by utilizing altered definitions of observability and open-loop lifted observers. The…

The inconsistency issue in the Visual-Inertial Navigation System (VINS) is a long-standing and fundamental challenge. While existing studies primarily attribute the inconsistency to observability mismatch, these analyses are often based on…

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…

We propose a moving horizon estimation scheme to estimate the states and the unknown constant parameters of general nonlinear uncertain discrete-time systems. The proposed framework and analysis explicitly do not involve the a priori…

Analyzing data from dynamical systems often begins with creating a reconstruction of the trajectory based on one or more variables, but not all variables are suitable for reconstructing the trajectory. The concept of nonlinear observability…

Unitary errors, such as those arising from fault-tolerant compilation of quantum algorithms, systematically bias observable estimates. Correcting this bias typically requires additional resources, such as an increased number of non-Clifford…

This work is devoted to the development of a distributionally robust active fault diagnosis approach for a class of nonlinear systems, which takes into account any ambiguity in distribution information of the uncertain model parameters.…

This paper studies distributed adaptive estimation over sensor networks with partially unknown source dynamics. We present parallel continuous-time and discrete-time designs in which each node runs a local adaptive observer and exchanges…

This paper describes recursive algorithms for state estimation of linear dynamical systems when measurements are noisy with unknown bias and/or outliers. For situations with noisy and biased measurements, algorithms are proposed that…

We consider the problem of distributed state estimation of a linear time-invariant (LTI) system by a network of sensors. We develop a distributed observer that guarantees asymptotic reconstruction of the state for the most general class of…

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…

Ultrasonic metal welding (UMW) is widely used in industrial applications but is sensitive to tool wear, surface contamination, and material variability, which can lead to unexpected process faults and unsatisfactory weld quality.…

Falling liquid films are complex physical processes modelled by infinite-dimensional dynamical systems. The interfacial behaviour is characterised by the Reynolds number, a nondimensional parameter, and above a critical value the uniform…