Related papers: Hybrid multi-observer for improving estimation per…
This paper proposes a novel distributed interval-valued simultaneous state and input observer for linear time-invariant (LTI) systems that are subject to attacks or unknown inputs injected both on their sensors and actuators. Each agent in…
In this paper we are interested in the problem of state observation of state-affine nonlinear systems. Our main contribution is to propose a globally exponentially convergent observer that requires only the necessary assumption of…
While the design of optimal peak-to-peak controllers/observers for linear systems is known to be a difficult problem, this problem becomes interestingly much easier in the context of interval observers because of the positive nature of the…
A symmetry-preserving, reduced-order state observer is presented for the unmeasured part of a system's state, where the nonlinear system dynamics exhibit symmetry under the action of a Lie group. Leveraging this symmetry with a moving…
In this paper, we consider the problem of designing an asymptotic observer for a nonlin-ear dynamical system in discrete-time following Luenberger's original idea. This approach is a two-step design procedure. In a first step, the problem…
Designing observers for linear systems with both known and unknown inputs is an important problem in several research contexts, for example, fault diagnosis and fault-tolerant control, and cyber-secure control systems, and presents…
This paper addresses the synthesis of safety-critical controllers using estimate feedback. We propose an observer-controller interconnection to ensure that the nonlinear system remains safe despite bounded disturbances on the system…
A novel approach to solve the problem of distributed state estimation of linear time-invariant systems is proposed in this paper. It relies on the application of parameter estimation-based observers, where the state observation task is…
In this paper, we study the internal stability and string stability of a vehicle platoon under the constant time headway spacing (CTHS) policy and the multiple-predecessor-following (MPF) vehicle-to-vehicle information flow topology. More…
We address the problem of estimating the inputs of a dynamical system from measurements of the system's outputs. To this end, we introduce a novel estimation algorithm that explicitly trades off bias and variance to optimally reduce the…
This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. The observer is based on the approximation and subsequent modification of the non-negative Lyapunov…
Set-based state estimation computes sets of states consistent with a system model given bounded sets of disturbances and noise. Bounding the set of states is crucial for safety-critical applications so that one can ensure that all…
The Koopman operator approach to the state estimation problem for nonlinear systems is a promising research area. The main goal of this paper is an attempt to provide a rigorous theoretical framework for this approach. In particular, the…
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…
The paper deals with joint state and parameter estimation for nonlinear continuous-time systems. Based on a guaranteed LPV approximation, the set adaptive observers design problem is solved avoiding the exponential complexity obstruction…
This work introduces a learning-enhanced observer (LEO) for linear time-invariant systems with uncertain dynamics. Rather than relying solely on nominal models, the proposed framework treats the system matrices as optimizable variables and…
This paper introduces a novel optimization-based approach for parametric nonlinear system identification. Building upon the prediction error method framework, traditionally used for linear system identification, we extend its capabilities…
Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…
This paper considers the observer design problem for discrete-time nonlinear dynamical systems with sampled measurement data. Earlier, the recently proposed Iteratively Preconditioned Gradient-Descent (IPG) observer, a Newton-type observer,…
This paper proposes a novel unified interval-valued observer synthesis approach for locally Lipschitz nonlinear continuous-time (CT) and discrete-time (DT) systems with nonlinear observations. A key feature of our proposed observer, which…