Related papers: Future state prediction based on observer for miss…
We study the evolution of observables of dynamical systems. For linear systems, we show that observables satisfy a closed differential equation whose minimal order is determined by the dynamical system and observation operator. This yields…
In this paper, we analyze the effect of time delay dynamics on controller design for Unmanned Aerial Vehicles (UAVs) with vision based navigation. Time delay is an inevitable phenomenon in cyber-physical systems, and has important…
Modern control systems frequently operate under input delays and sampled state measurements. A common delay-compensation strategy is predictor feedback; however, practical implementations require solving an implicit ODE online, resulting in…
In this paper, we introduce a dynamic fiducial marker which can change its appearance according to the spatiotemporal requirements of the visual perception task of a mobile robot using a camera as the sensor. We present a control scheme to…
Due to simplicity and strong stability guarantees, predictor feedback methods have stood as a popular approach for time delay systems since the 1950s. For time-varying delays, however, implementation requires computing a prediction horizon…
A hybrid observer is described for estimating the state of a system of the form dot x=Ax, y_i=C_ix, i=1,...,m. The system's state x is simultaneously estimated by m agents assuming agent i senses y_i and receives appropriately defined data…
In realistic pursuit-evasion scenarios, abrupt target maneuvers generate unavoidable periods of elevated uncertainty that result in estimation delays. Such delays can degrade interception performance to the point of causing a miss. Existing…
Current practice for asteroid close proximity maneuvers requires extremely accurate characterization of the environmental dynamics and precise spacecraft positioning prior to the maneuver. This creates a delay of several months between the…
This paper extends the application of a recently proposed nonlinear observer (cubic observer) for state estimation of linear systems with unknown inputs and delays. The generalized structure proposed here, makes it possible to establish a…
This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…
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…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…
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…
This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, whose gain is determined only by the unstable modes of the…
In passive radar, a network of distributed sensors exploit signals from so-called Illuminators-of-Opportunity to detect and localize targets. We consider the case where the IO signal is available at each receiver node through a reference…
We present a novel guidance law that uses observations consisting solely of seeker line of sight angle measurements and their rate of change. The policy is optimized using reinforcement meta-learning and demonstrated in a simulated terminal…
While the Einstein Telescope and Cosmic Explorer proposals for next-generation, ground-based detectors promise vastly improved sensitivities to gravitational-wave signals, only joint observations are expected to enable the full scientific…
Data generated from dynamical systems with unknown dynamics enable the learning of state observers that are: robust to modeling error, computationally tractable to design, and capable of operating with guaranteed performance. In this paper,…
This paper presents results on the solvability of the observer design problem for general nonlinear triangular systems with inputs, under weak observability assumptions. The local state estimation is exhibited by means of a delayed…