Related papers: Observer-Based Realization of Control Systems
Koopman operator theory is a kind of data-driven modelling approach that accurately captures the nonlinearities of mechatronic systems such as vehicles against physics-based methods. However, the infinite-dimensional Koopman operator is…
In many engineering systems, proper predictive maintenance and operational control are essential to increase efficiency and reliability while reducing maintenance costs. However, one of the major challenges is that many sensors are used for…
In this paper, we study numerical approximations for optimal control of a class of stochastic partial differential equations with partial observations. The system state evolves in a Hilbert space, whereas observations are given in…
This paper develops an optimal relative output-feedback based solution to the containment control problem of linear heterogeneous multi-agent systems. A distributed optimal control protocol is presented for the followers to not only assure…
Various methods are nowadays available to design observers for broad classes of systems, where the primary focus is on establishing the convergence of the estimated states. Nevertheless, the question of the tuning of the observer to achieve…
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…
Exponentially stable extended adaptive observer is proposed for a class of linear time-invariant systems with unknown parameters and overparameterization. It allows one to reconstruct unmeasured states and bounded external disturbance…
This paper proposes an observer-based formation tracking control approach for multi-vehicle systems with second-order motion dynamics, assuming that vehicles' relative or global position and velocity measurements are unavailable. It is…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
This paper addresses problems on the structural design of control systems taking explicitly into consideration the possible application to large-scale systems. We provide an efficient and unified framework to solve the following major…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
This paper is concerned with a partially observed hybrid optimal control problem, where continuous dynamics and discrete events coexist and in particular, the continuous dynamics can be observed while the discrete events, described by a…
The method to design exponentially stable adaptive observers is proposed for linear time-invariant systems parameterized by unknown physical parameters. Unlike existing adaptive solutions, the system state-space matrices A, B are not…
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…
System identification based on Koopman operator theory has grown in popularity recently. Spectral properties of the Koopman operator of a system were proven to relate to properties like invariant sets, stability, periodicity, etc. of the…
Dynamic Mode Decomposition (DMD) and its variants, such as extended DMD (EDMD), are broadly used to fit simple linear models to dynamical systems known from observable data. As DMD methods work well in several situations but perform poorly…
This paper is concerned with the leader-following output consensus problem in the framework of distributed nonlinear observers. In stead of certain hypotheses on the leader system, a group of geometric conditions is put forward to develop a…
In this paper we provide a set of stability conditions for linear time-invariant networked control systems with arbitrary topology, using a Lyapunov direct approach. We then use these stability conditions to provide a novel low-complexity…
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…
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…