Related papers: Output tracking based on extended observer for non…
Peak estimation bounds extreme values of a function of state along trajectories of a dynamical system. This paper focuses on extending peak estimation to continuous and discrete settings with time-independent and time-dependent uncertainty.…
We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and…
This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…
The presented paper tackles the problem of modeling an unknown function, and its first $r-1$ derivatives, out of scattered and poor-quality data. The considered setting embraces a large number of use cases addressed in the literature and…
This paper concerns the problem of adaptive output regulation for multivariable nonlinear systems in normal form. We present a regulator employing an adaptive internal model of the exogenous signals based on the theory of nonlinear…
This paper discusses a general framework for designing robust state estimators for a class of discrete-time nonlinear systems. We consider systems that may be impacted by impulsive (sparse but otherwise arbitrary) measurement noise…
The synthesis of adaptive gain-scheduling controller is discussed for continuous-time linear models characterized by polytopic uncertainties. The proposed approach computes the control law assuming the parameters as uncertain and adaptively…
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…
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…
A geometric generalization of discrete-time linear deadbeat observer is presented. The proposed method to generate a deadbeat observer for a given nonlinear system is constructive and makes use of sets that can be computed iteratively. For…
This paper addresses the synthesis of interval observers for partially unknown nonlinear systems subject to bounded noise, aiming to simultaneously estimate system states and learn a model of the unknown dynamics. Our approach leverages…
This paper deals with the problem of designing unknown input observers for a class of coupled semilinear wave partial differential equations (PDE) systems. A state observer is designed to estimate the uncertain coupled wave PDE systems.…
In this paper, we introduce a new sliding mode observer for Lur'e set-valued dynamical systems, particularly addressing challenges posed by uncertainties not within the standard range of observation. Traditionally, most of Luenberger-like…
This work deals with the problem of designing observers for the estimation of a single function of the states for discrete-time nonlinear systems. Necessary and sufficient conditions for the existence of lower order functional observers…
We focus in this paper in the estimation of a target trajectory defined by whether a time constant parameter in a simple stochastic process or a random walk with binary observations. The binary observation comes from binary derivative…
Disturbance observer is an inner-loop output-feedback controller whose role is to reject external disturbances and to make the outer-loop baseline controller robust against plant's uncertainties. Therefore, the closed-loop system with the…
In this paper, we present a methodology for actuator and sensor fault estimation in nonlinear systems. The method consists in augmenting the system dynamics with an approximated ultra-local model (a finite chain of integrators) for the…
A new adaptive observer is proposed for a certain class of nonlinear systems with bounded unknown input and parametric uncertainty. Unlike most existing solutions, the proposed approach ensures asymptotic convergence of the unknown…
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 presents a novel linear robust Youla controller output observation system for tracking vehicle motion trajectories using a simple nonlinear kinematic vehicle model, supplemented with positional data from a radar sensor. The…