Related papers: IEEEICM25: "A High-Performance Disturbance Observe…
This paper shows that the design constraints of the Disturbance Observer (DOb) based robust motion control systems become stricter when they are implemented using computers or microcontrollers. The stricter design constraints put new upper…
In this paper, we propose a novel nonlinear observer based on neural networks, called neural observer, for observation tasks of linear time-invariant (LTI) systems and uncertain nonlinear systems. In particular, the neural observer designed…
We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential…
In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of…
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 presents a robust non-linear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the…
In this paper, we propose a novel predictive safety filter that is robust to bounded perturbations and is implemented in an even-triggered fashion to reduce online computation. The proposed safety filter extends upon existing work to reject…
This article describes a comprehensive system for surveillance and monitoring applications. The development of an efficient real time video motion detection system is motivated by their potential for deployment in the areas where security…
We present an innovative charge detector with high resolution and wide dynamic range designed to fulfill the requirements of a monitoring system for a high energy ion beam. The detector prototype, constructed using Si photodiodes and a…
This paper considers the problem of designing interval observers for hidden mode switched nonlinear systems with bounded noise signals that are compromised by false data injection and switching attacks. The proposed observer consists of…
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…
The wide deployment of renewable generation and the gradual decrease in the overall system inertia make modern power grids more vulnerable to transient instabilities and unacceptable frequency fluctuations. Time-domain simulation-based…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
Using the tools of Differential Geometry, we define a new <<fast>> chaoticity indicator, able to detect dynamical instability of trajectories much more effectively, (i.e. "quickly") than the usual tools, like Lyapunov Characteristic Numbers…
Power quality monitoring has become a vital need in modern power systems owing to the need for agile operation and troubleshooting scheme. On the other hand, the nature of load in modern power system is changing in many ways. Digital loads,…
We propose an update estimation method for a diffusion parameter from high-frequency dependent data under a nuisance drift element. We ensure the asymptotic equivalence of the estimator to the corresponding quasi-MLE, which has the…
This paper studies an optimization-based state estimation approach for discrete-time nonlinear systems under bounded process and measurement disturbances. We first introduce a full information estimator (FIE), which is given as a solution…
This paper provides a comprehensive framework for designing functional observers for linear systems subject to delayed output measurements. Moving beyond traditional methodologies, the proposed observer generates an estimate $\hat{z}(t)$…
This paper presents an observer-integrated Reinforcement Learning (RL) approach, called Disturbance OBserver Network (DOB-Net), for robots operating in environments where disturbances are unknown and time-varying, and may frequently exceed…