Related papers: An observability result related to active sensing
We consider the set of bimodal linear systems consisting of two linear dynamics acting on each side of a given hyperplane, assuming continuity along the separating hyperplane. Focusing on the unobservable planar ones, we obtain a simple…
Symmetry invariant local interaction of a many body system leads to global constraints. We obtain explicit forms of the global macroscopic condition assuring that at the microscopic level the evolution respects the overall symmetry.
Roboticists are trying to replicate animal behavior in artificial systems. Yet, quantitative bounds on capacity of a moving platform (natural or artificial) to express information in the environment are not known. This paper presents a…
The concept of observability of linear systems initiated with Kalman in the mid 1950s. Roughly a decade later, the observability of nonlinear systems appeared. By such definitions a system is either observable or not. Continuous measures of…
We study the robustness of self-sustained oscillatory activity in a globally coupled ensemble of excitable and oscillatory units. The critical balance to achieve collective self-sustained oscillations is analytically established. We also…
It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of…
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…
The paper addresses the synchronization of multi-agent systems with continuous-time dynamics interacting through a very general class of monotonic continuous signal functions that covers estimation biases, approximation of discrete…
While the identification of nonlinear dynamical systems is a fundamental building block of model-based reinforcement learning and feedback control, its sample complexity is only understood for systems that either have discrete states and…
Effective monitoring of mobile animal populations is crucial for ecological research, wildlife management, and agricultural applications. Monitoring of bats specifically can help understand the spread of disease as well as shine light on…
This paper studies the local observability of synchronous machines using a unified approach. Recently, motion sensorless control of electrical drives has gained high interest. The main challenge for such a technology is the poor performance…
Many biological phenomena such as locomotion, circadian cycles, and breathing are rhythmic in nature and can be modeled as rhythmic dynamical systems. Dynamical systems modeling often involves neglecting certain characteristics of a…
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…
Dynamical systems theory has long provided a foundation for understanding evolving phenomena across scientific domains. Yet, the application of this theory to complex real-world systems remains challenging due to issues in mathematical…
A hidden Markov model is called observable if distinct initial laws give rise to distinct laws of the observation process. Observability implies stability of the nonlinear filter when the signal process is tight, but this need not be the…
Assessing the systemic effects of uncertainty that arises from agents' partial observation of the true states of the world is critical for understanding a wide range of scenarios. Yet, previous modeling work on agent learning and…
In this report we deal with the problem of global output feedback stabilization of a class of $n$-dimensional nonlinear positive systems possessing a one-dimensional unknown, though measured, part. We first propose our main result, an…
Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…
In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…
The problem of exact observability is analyzed for a wide class of neutral type systems by an infinite dimensional approach. The duality with the exact controllabil-ity problem is the main tool. It is based on an explicit expression of a…