Related papers: An observability result related to active sensing
Animals often exhibit changes in their behavior during migration. Telemetry data provide a way to observe geographic position of animals over time, but not necessarily changes in the dynamics of the movement process. Continuous-time models…
Robust adaptive control of scalar plants in the presence of unmodeled dynamics is established in this paper. It is shown that implementation of a projection algorithm with standard adaptive control of a scalar plant ensures global…
Much has been said about observability in system theory and control; however, it has been recently that observability in complex networks has seriously attracted the attention of researchers. This paper examines the state-of-the-art and…
This paper considers the observability of nonlinear systems from a Koopman operator theoretic perspective--and in particular--the effect of symmetry on observability. We first examine an infinite-dimensional linear system (constructed using…
How to recognise whether an observed person walks or runs? We consider a dynamic environment where observations (e.g. the posture of a person) are caused by different dynamic processes (walking or running) which are active one at a time and…
Systems switching between different dynamical phases is an ubiquitous phenomenon. The general understanding of such a process is limited. To this end, we present a general expression that captures fluctuations of a system exhibiting a…
Modeling dynamical systems is important in many disciplines, e.g., control, robotics, or neurotechnology. Commonly the state of these systems is not directly observed, but only available through noisy and potentially high-dimensional…
All interesting and fascinating collective properties of a complex system arise from the intricate way in which its components interact. Various systems in physics, biology, social sciences and engineering have been successfully modelled as…
This paper shows how the theory of adaptive observers can be effectively used in the design internal models for nonlinear output regulation. The main result obtained in this way is a new method for the synthesis of adaptive internal models…
In this paper, we study the problem of jointly retrieving the state of a dynamical system, as well as the state of the sensors deployed to estimate it. We assume that the sensors possess a simple computational unit that is capable of…
We consider a living organism as an observer of the evolution of its environment recording sensory information about the state space X of the environment in real time. Sensory information is sampled and then processed on two levels. On the…
In this note, we propose a novel approach for a class of autonomous dynamical systems that allows, given some observations of the solutions, to identify its parameters and reconstruct the state vector. This approach relies on proving the…
We study synchronization of nonlinear systems that satisfy an incremental passivity property. We consider the case where the control input is subject to a class of disturbances, including constant and sinusoidal disturbances with unknown…
Collective motion is found in various animal systems, active suspensions and robotic or virtual agents. This is often understood using high level models that directly encode selected empirical features, such as co-alignment and cohesion.…
Biological systems perform an astonishing array of dynamical processes -- including development and repair, regulation, behavior and motor control, sensing and signaling, and adaptation, among others. Powered by the transduction of stored…
This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…
We study universal behavior in the moving phase of a generic system of motile particles with alignment interactions in the incompressible limit for spatial dimensions $d>2$. Using a dynamical renormalization group analysis, we obtain the…
The leader-following consensus problem for general linear multi-agent systems over jointly connected switching networks has been a challenging problem and the solvability of the problem has been limited to the class of linear multi-agent…
For linear control systems, the usual state feedback stabilizability has two components: one is a continuous observation mode (i.e., to observe solutions continuously in time), and the other is a class of feedback laws (which is usually the…
The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different…