Related papers: A General Nonlinear Observer Design for Inertial N…
A continuous solution is proposed to the problem of uniform global exponential estimation of the angular velocity for rigid bodies by means of direct attitude measurements. The proposed observer is designed on…
In this paper, we perform a thorough observability analysis for linearized inertial navigation systems (INS) aided by exteroceptive range and/or bearing sensors (such as cameras, LiDAR and sonars) with different geometric features (points,…
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…
In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark position measurements, and measurements from…
Two novel robust nonlinear stochastic full pose (i.e, attitude and position) estimators on the Special Euclidean Group SE(3) are proposed using the available uncertain measurements. The resulting estimators utilize the basic structure of…
The paper deals with the observer design problem for a wide class of triangular time-varying nonlinear systems, with unobservable linearization. Sufficient conditions are derived for the existence of a Luenberger-type observer, when it is a…
This paper explores the observability and estimation capability of dynamical systems using predominantly relative measurements of the system's state-space variables, with minimal to no reliance on absolute measurements of these variables.…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
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…
A new approach to design of nonlinear observers (state estimators) is proposed. The main idea is to (i) construct a convex set of dynamical systems which are contracting observers for a particular system, and (ii) optimize over this set for…
This article presents an extended state observer for vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The extended state observer is applicable to a rotorcraft aerial vehicle with a fixed plane of…
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…
We address load-parameter estimation in cooperative aerial transport with time-varying mass and inertia, as in fluid-carrying payloads. Using an intrinsic manifold model of the multi-quadrotor-load dynamics, we combine a geometric tracking…
This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the…
In this paper, we present a methodology for actuator and sensor fault estimation in nonlinear systems. The method consists in augmenting the system dynamics with an approximated ultra-local model (a finite chain of integrators) for the…
We address the problem of state estimation and attack isolation for general discrete-time nonlinear systems when sensors are corrupted by (potentially unbounded) attack signals. For a large class of nonlinear plants and observers, we…
We present a uniformly globally exponentially stable hybrid angular velocity observer for rigid body systems designed directly on $SO(3)\times\mathbb{R}^3$. The global exponential stability result makes this observer a good candidate for a…
This work presents a scalable control framework based on nonlinear Model Predictive Control for high-dimensional dynamical systems. The proposed approach addresses the key challenges of model scalability and partial observability by…
Many navigation problems can be formulated as observer design on linear observed systems with a two-frame group structure, on which an invariant filter can be implemented with guaranteed consistency and stability. It's still unclear how…
This paper introduces a new nonlinear observer for state estimation of linear time invariant systems. The proposed observer contains a (nonlinear) cubic term in its error dynamics. "For the final version of this article, please refer to the…