Related papers: Sliding Mode Observers for Set-valued Lur'e System…
Constant biases associated to measured linear and angular velocities of a moving object can be estimated from measurements of a static scene by embedded brightness and depth sensors. We propose here a Lyapunov-based observer taking…
This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…
A new iterative algorithm for solving initial data inverse problems from partial observations has been recently proposed in Ramdani, Tucsnak and Weiss [15]. Based on the concept of observers (also called Luenberger observers), this…
This paper presents new results concerning the observer design for wide classes of nonlinear systems with both sampled and delayed measurements. By using a small gain approach we provide sufficient conditions, which involve both the delay…
In the context of filtering chaotic dynamical systems it is well-known that partial observations, if sufficiently informative, can be used to control the inherent uncertainty due to chaos. The purpose of this paper is to investigate, both…
Estimation algorithms, such as the sliding window filter, produce an estimate and uncertainty of desired states. This task becomes challenging when the problem involves unobservable states. In these situations, it is critical for the…
This article focuses on the development of functional unknown input observers for systems with arbitrary relative degree. Two distinct approaches are presented to address this challenge. The first approach is tailored to a class of…
The article introduces a method to learn dynamical systems that are governed by Euler--Lagrange equations from data. The method is based on Gaussian process regression and identifies continuous or discrete Lagrangians and is, therefore,…
This work presents a notion of strong detectability for linear time varying systems affected by unknown inputs. It is shown that this notion is equivalent to detectability of an auxiliary system without unknown inputs. This allows a…
Problem of adaptive state observer synthesis for linear time-varying (LTV) system with unknown time-varying parameter and delayed output measurements is considered. State observation problem has attracted the attention of many researchers…
The issue of single range based observability analysis and observer design for the kinematics model of a 3D vehicle subject to a constant unknown drift velocity is addressed. The proposed method departs from alternative solutions to the…
This paper studies the reduced-order or full-order, dead-beat observer problem for a class of nonlinear systems, linear in the unmeasured states. A novel hybrid observer design strategy is proposed, with the help of the notion of strong…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…
We study state estimation for nonlinear differential-algebraic systems, where the nonlinearity satisfies a Lipschitz condition or a generalized monotonicity condition or a combination of these. The presented observer design unifies earlier…
This paper proposes a functional observer-based sliding mode control technique for position control of a single-link flexible manipulator. The proposed method considers the unmodelled system dynamics as uncertainty and aims to achieve…
Solutions to the interval observation problem for delayed impulsive and switched systems with $L_1$-performance are provided. The approach is based on first obtaining stability and $L_1/\ell_1$-to-$L_1/\ell_1$ performance analysis…
This paper introduces a novel recursive distributed estimation algorithm aimed at synthesizing input and state interval observers for nonlinear bounded-error discrete-time multi-agent systems. The considered systems have sensors and…
This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
This paper focuses on observer based fault reconstruction for a class of nonlinear uncertain systems with Lipschitz nonlinearities. An adaptive-gain Super-Twisting (STW) observer is developed for observing the system states, where the…