Related papers: Sampled-Data Observer Design for Linear Kuramoto-S…

Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation…

We develop an estimator for the high-dimensional covariance matrix of a locally stationary process with a smoothly varying trend and use this statistic to derive consistent predictors in non-stationary time series. In contrast to the…

We present a methodology for the global sampled-data stabilization of systems with a compact absorbing set and input/measurement delays. The methodology is based on the Inter-Sample-Predictor, Observer, Predictor, Delay-Free Controller…

Accurate and reliable sensor calibration is essential to fuse LiDAR and inertial measurements, which are usually available in robotic applications. In this paper, we propose a novel LiDAR-IMU calibration method within the continuous-time…

Recent selective state space models (SSMs), such as Mamba and Mamba-2, have demonstrated strong performance in sequence modeling owing to input-dependent selection mechanisms. However, these mechanisms lack theoretical grounding and cannot…

This paper addresses the problem of identifying sparse linear time-invariant (LTI) systems from a single sample trajectory generated by the system dynamics. We introduce a Lasso-like estimator for the parameters of the system, taking into…

We propose a time-discounted integral variant of incremental input/output-to-state stability (i-iIOSS) together with an equivalent Lyapunov function characterization. Continuity of the i-iIOSS Lyapunov function is ensured if the system…

We consider the problem of subspace estimation in situations where the number of available snapshots and the observation dimension are comparable in magnitude. In this context, traditional subspace methods tend to fail because the…

We propose a novel sampled-data output-feedback controller for nonlinear systems of arbitrary relative degree that ensures reference tracking within prescribed error bounds. We provide explicit bounds on the maximum input signal and the…

In recent years, the distributed-observer-based distributed control law has shown powerful ability to arbitrarily approximate the centralized control performance. However, the traditional distributed observer requires each local observer to…

A joint characterization of reachability (controllability) and observability (constructibility) for linear SISO nonuniformly sampled discrete systems is presented. The work generalizes to the nonuniform sampling the criterion known for the…

Recently, a framework for controller design of sampled-data nonlinear systems via their approximate discrete-time models has been proposed in the literature. In this paper we develop novel tools that can be used within this framework and…

For nonlinear analytic control systems, we introduce a new paradigm for dynamic output feedback stabilization. We propose to periodically sample the usual observer based control law, and to reshape it so that it coincides with a ''control…

The motivation for this paper is the implementation of nonlinear state feedback control, designed based on the continuous-time plant model, in a sampled control loop under relatively slow sampling. In previous work we have shown that using…

This paper addresses the stability conditions of the sampled-data teleoperation systems consisting continuous time master, slave, operator, and environment with discrete time controllers over general communication networks. The output…

Finite-dimensional observer-based controller design for PDEs is a challenging problem. Recently, such controllers were introduced for the 1D heat equation, under the assumption that one of the observation or control operators is bounded.…

This paper addresses the stability analysis and state estimation of generalized Persidskii systems subject to time-varying delays and external disturbances. The generalized Persidskii class, which couples linear dynamics with sector-bounded…

Relying on recent research results on Neural ODEs, this paper presents a methodology for the design of state observers for nonlinear systems based on Neural ODEs, learning Luenberger-like observers and their nonlinear extension…

This paper addresses the problem of resilient state estimation and attack reconstruction for bounded-error nonlinear discrete-time systems with nonlinear observations/ constraints, where both sensors and actuators can be compromised by…

This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov-certificate parameters are redesigned jointly at successive decision epochs. Unlike…