Related papers: State-Robust Observability Measures for Sensor Sel…

We address the output regulation problem of linear systems with non-smooth and non-periodic exogenous signals. Specifically, we first formulate and solve the full-information problem by designing a state-feedback controller. We study the…

Exact discrete-time models of nonlinear systems are difficult or impossible to obtain, and hence approximate models may be employed for control design. Most existing results provide conditions under which the stability of the approximate…

The duality between controllability and observability enables methods developed for full-state control to be applied to full-state estimation, and vice versa. In applications in which control or estimation of all state variables is…

Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…

Parameter estimation of nonlinear state-space models from input-output data typically requires solving a highly non-convex optimization problem prone to slow convergence and suboptimal solutions. This work improves the reliability and…

This paper investigates sensor scheduling for state estimation of complex networks over shared transmission channels. For a complex network of dynamical systems, referred to as nodes, a sensor network is adopted to measure and estimate the…

In many sampled-data applications, observers are designed based on approximately discretized models of continuous-time systems, where usually only the discretized system is analyzed in terms of its detectability. In this paper, we show that…

We study two sensor assignment problems for multi-target tracking with the goal of improving the observability of the underlying estimator. We consider various measures of the observability matrix as the assignment value function. We first…

A fundamental challenge in robust visual-inertial odometry (VIO) is to dynamically assess the reliability of sensor measurements. This assessment is crucial for properly weighting the contribution of each measurement to the state estimate.…

In a network of high-dimensionality, it is not feasible to measure every single node. Thus, an important goal in the literature is to define the optimal choice of sensor nodes that provides a reliable state reconstruction of the network…

Consider an n-dimensional linear system where it is known that there are at most k<n non-zero components in the initial state. The observability problem, that is the recovery of the initial state, for such a system is considered. We obtain…

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…

This paper deals with the state estimation problem in discrete-event systems modeled with nondeterministic finite automata, partially observed via a sensor measuring unit whose measurements (reported observations) may be vitiated by a…

Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observability) informs better estimator design. Among the research on…

Various methods are nowadays available to design observers for broad classes of systems. Nevertheless, the question of the tuning of the observer to achieve satisfactory estimation performance remains largely open. This paper presents a…

This paper presents new results that allow one to address the discrete-time general nonlinear robust control problem. The uncertain system is described by a general nonlinear function set characterized by the nominal model and the…

In recent years there has been a push to discover the governing equations dynamical systems directly from measurements of the state, often motivated by systems that are too complex to directly model. Although there has been substantial work…

The extended state observer (ESO) is an inherent element of robust observer-based control systems that allows estimating the impact of disturbance on system dynamics. Proper tuning of ESO parameters is necessary to ensure a good quality of…

Observer design typically requires the observability of the underlying system, which may be hard to verify for nonlinear systems, while guaranteeing asymptotic convergence of errors, which may be insufficient in order to satisfy performance…

This paper addresses the emulation-based observer design for networked control systems (NCS) with linear plants that operate at two time scales in the presence of measurement noise. The system is formulated as a hybrid singularly perturbed…