Related papers: A Robust Observer with Gyroscopic Bias Correction …
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…
Inertial sensors stimulate very large interest, not only for their application but also for fundamental physics tests. Ring laser gyros, which measure angular rotation rate, are certainly among the most sensitive inertial sensors, with…
This work proposes a nonlinear stochastic filter evolved on the Special Orthogonal Group SO(3) as a solution to the attitude filtering problem. One of the most common potential functions for nonlinear deterministic attitude observers is…
We revisit the gradient based nonlinear attitude complementary filters (observers) on the Special Orthogonal group SO(3) and provide explicit solutions of the norm of the attitude estimation error dynamics. One smooth and two non-smooth…
In this paper, we propose a suboptimal moving horizon estimator for nonlinear systems. For the stability analysis we transfer the "feasibility-implies-stability/robustness" paradigm from model predictive control to the context of moving…
Predictive safety filters provide a way of projecting potentially unsafe inputs, proposed, e.g. by a human or learning-based controller, onto the set of inputs that guarantee recursive state and input constraint satisfaction by leveraging…
Circular variables that represent directions or periodic observations arise in many fields, such as biology and environmental sciences. An important issue when dealing with circular data is how to estimate their dispersion robustly,…
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global…
Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
Control of systems operating in unexplored environments is challenging due to lack of complete model knowledge. Additionally, under measurement noises, data collected from onboard sensors are of limited accuracy. This paper considers…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
We address the problem of robust state estimation of a class of discrete-time nonlinear systems with positive-slope nonlinearities when the sensors are corrupted by (potentially unbounded) attack signals and bounded measurement noise. We…
Despite being a foundational concept of modern systems theory, there have been few studies on observability of non-linear stochastic systems under partial observations. In this paper, we introduce a definition of observability for…
This paper proposes a nonlinear estimator for the robust reconstruction of process and sensor faults for a class of uncertain nonlinear systems. The proposed fault estimation method augments the system dynamics with an ultra-local (in time)…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
This work presents a contracting hierarchical observer that fuses position and orientation measurements with an IMU to generate smooth position, linear velocity, orientation, and IMU bias estimates that are guaranteed to converge to their…
Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…
Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…
This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…