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This paper considers the problem of multi-agent distributed linear regression in the presence of system noises. In this problem, the system comprises multiple agents wherein each agent locally observes a set of data points, and the agents'…
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…
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…
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…
This paper presents a novel cascade nonlinear observer framework for inertial state estimation. It tackles the problem of intermediate state estimation when external localization is unavailable or in the event of a sensor outage. The…
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…
Motivated by the need of observers that are both robust to disturbances and guarantee fast convergence to zero of the estimation error, we propose an observer for linear time-invariant systems with noisy output that consists of the…
The paper deals with the observer design problem for a wide class of triangular nonlinear time-varying systems. The results of the present work generalize previous results in the literature dealing with the observer design problem for…
In [1], it is established that a convergent observer with an infinite gain margin can be designed for a given nonlinear system when a Riemannian metric showing that the system is differentially detectable (i.e., the Lie derivative of the…
In the present paper, we study observer design and we establish some sufficient conditions for practical exponential stability for a class of time-delay nonlinear systems written in triangular form. In case of delay, the exponential…
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…
This paper considers the design of nonlinear observers for invariant systems posed on finite-dimensional connected Lie groups with measurements generated by a transitive group action on an associated homogeneous space. We consider the case…
This paper utilizes the recently proposed cubic observer to estimate the state of a class of nonlinear systems. The cubic observer is proposed as an alternative to linear observers for improved convergence rate and robustness. It is shown…
A nonlinear observer on the Special Euclidean group $\mathrm{SE(3)}$ for full pose estimation, that takes the system outputs on the real projective space directly as inputs, is proposed. The observer derivation is based on a recent advanced…
We study convergence of the iterative projected gradient (IPG) algorithm for arbitrary (possibly nonconvex) sets and when both the gradient and projection oracles are computed approximately. We consider different notions of approximation of…
This paper deals with the problem of predicting the future state of discrete-time input-delayed systems in the presence of unknown disturbances that can affect both the state and the output equations of the plant. Since the disturbance is…
The relative degree limitation for adaptive observer-based synchronization schemes is overcome. The scheme is extended to nonpassifiable systems. Two synchronization methods are described and justified based on augmented error adaptive…
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 revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the…
This paper proposes a design methodology for non-linear state observers for invariant kinematic systems posed on finite dimensional connected Lie groups, and studies the associated fundamental system structure. The concept of synchrony of…