Related papers: Learning-based Design of Luenberger Observers for …
In this paper, a machine learning based observer for systems evolving on manifolds is designed such that the state of the observer is restricted to the Lie group on which the system evolves. Conventional techniques involving machine…
Current state-of-the-art correct-by-design controllers are designed for full-state measurable systems. This work first extends the applicability of correct-by-design controllers to partially observable LTI systems. Leveraging 2nd order…
Observability is a fundamental structural property of any dynamic system and describes the possibility of reconstructing the state that characterizes the system from observing its inputs and outputs. Despite the huge effort made to study…
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observability) informs better estimator design. Among the research on…
The distributed observer design problem holds significant importance in cases in which the output information of a system is decentralized across different subsystems. Each subsystem has a local observer and access to one part of the…
We present a framework to control and track the observables of a general solid state system driven by an incident laser field. The main result is a non-linear equation of motion for tracking an observable, together with a constraint on the…
This paper proposes an algebraic observer-based modulating function approach for linear time-variant systems and a class of nonlinear systems with discrete measurements. The underlying idea lies in constructing an observability…
This paper deals with the state estimation of linear time-invariant systems using distributed observers with local sampled-data measurement and aperiodic communication. Each observer agent perceives partial information of the system to be…
A high-gain extended observer is designed for a class of nonlinear uncertain systems. This observer has the ability of estimating system uncertainty, and it can be used to estimate the derivatives of signal up to order n. The controller…
This paper deals with the problem of adaptive output regulation for multivariable nonlinear systems by presenting a learning-based adaptive internal model-based design strategy. The approach builds on the recently proposed adaptive internal…
We address the problem of robust state reconstruction for discrete-time nonlinear systems when the actuators and sensors are injected with (potentially unbounded) attack signals. Exploiting redundancy in sensors and actuators and using a…
Parameter estimation-based observer (PEBO) is a recently developed constructive tool to design state observers for nonlinear systems. It reformulates the state estimation problem as one of online parameter identification, effectively…
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 paper considers the design of a nonlinear dissipative impulsive observer based on non-periodic discrete-time measurements. Sufficient conditions are derived for (i) exponential convergence of the observer in absence of measurement…
Nonlinear observers based on the well-known concept of minimum energy estimation are discussed. The approach relies on an output injection operator determined by a Hamilton-Jacobi-Bellman equation and is subsequently approximated by a…
Nonlinear differential equations are encountered as models of fluid flow, spiking neurons, and many other systems of interest in the real world. Common features of these systems are that their behaviors are difficult to describe exactly and…
A simply structured distributed observer is described for estimating the state of a discrete-time, jointly observable, input-free, linear system whose sensed outputs are distributed across a time-varying network. It is explained how to…
A nonlinear observer on the Special Euclidean group $\mathrm{SE(3)}$ for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is proposed. The observer derivation is based on a recent advanced…
Positive systems are important class of dynamic systems with impressive properties. The response of such systems to positive initial conditions and positive inputs remain in the nonnegative orthant of the state space. Although positive…
Knowledge-based leader-following synchronization of heterogeneous nonlinear multi-agent systems is a challenging problem since the leader's dynamic information is unknown to any follower node. This paper proposes a learning-based fully…