Related papers: Global Observer Design for a Class of Linear Obser…
In this paper we are interested in the problem of state observation of state-affine nonlinear systems. Our main contribution is to propose a globally exponentially convergent observer that requires only the necessary assumption of…
An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS…
Visual Simultaneous Localisation and Mapping (VSLAM) is a well-known problem in robotics with a large range of applications. This paper presents a novel approach to VSLAM by lifting the observer design to a novel Lie group on which the…
Dynamical systems theory has long provided a foundation for understanding evolving phenomena across scientific domains. Yet, the application of this theory to complex real-world systems remains challenging due to issues in mathematical…
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…
In this paper, we propose a new approach to design globally convergent reduced-order observers for nonlinear control systems via contraction analysis and convex optimization. Despite the fact that contraction is a concept naturally suitable…
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 paper presents a systematic observer design methodology for a class of port-Hamiltonian (pH) systems with state-dependent input matrices. Such systems can model a wide range of electromechanical systems, including magnetic levitation…
This paper presents the equivariant systems theory and observer design for second order kinematic systems on matrix Lie groups. The state of a second order kinematic system on a matrix Lie group is naturally posed on the tangent bundle of…
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.…
This paper addresses the emulation-based observer design for networked control systems (NCS) with linear plants that operate at two time scales in the presence of measurement noise. The system is formulated as a hybrid singularly perturbed…
This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…
The paper shows that positive linear systems can be stabilized using positive Luenberger-type observers. This is achieved by structuring the observer as monotonically converging upper and lower bounds on the state. Analysis of the…
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…
While many works exploiting an existing Lie group structure have been proposed for state estimation, in particular the Invariant Extended Kalman Filter (IEKF), few papers address the construction of a group structure that allows casting a…
This paper proposes a novel distributed interval observer design for linear time-invariant (LTI) discrete-time systems subject to bounded disturbances. In the proposed observer algorithm, each agent in a networked group exchanges…
This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…
In the present paper we consider controllability and observability of second order linear time invariant systems in matrix form. Without reducing into first order systems we show how the classical conditions for first order linear systems…
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…
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…