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In this paper, we propose fixed-order set-valued (in the form of l2-norm hyperballs) observers for some classes of nonlinear bounded-error dynamical systems with unknown input signals that simultaneously find bounded hyperballs of states…

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 work addresses the design of a robust hybrid observer for discrete-time switched linear systems subject to unknown inputs and modeling errors. The observer herein proposed is synthesized, for the case when the active mode is unknown…

The distributed observer design problem holds significant importance in cases in which the output information of a system is decentralized across different subsystems. Each subsystem has a local observer and access to one part of the…

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…

This paper studies linear time-invariant descriptor systems which are not necessarily regular. We introduce the notion of partial detectability and characterize this concept by means of a simple rank criterion involving the system…

In order to function in unstructured environments, robots need the ability to recognize unseen objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However, the…

Traditional observer design methods rely on certain properties of the system's nonlinearity, such as Lipschitz continuity, one-sided Lipschitzness, a bounded Jacobian, or quadratic boundedness. These properties are described by…

Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observability) informs better estimator design. Among the research on…

The internal state of a dynamical system, a set of variables that defines its evolving configuration, is often hidden and cannot be fully measured, posing a central challenge for real-time monitoring and control. While observers are…

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…

This paper concerns the distributed observer for the descriptor linear system. Unlike centralized descriptor system observers, in the case of distributed observers, each agent either finds it difficult to independently eliminate impulses,…

This paper is devoted to the design of full order proportional-integral observer for the state estimation of discrete-time linear time-invariant systems. In particular, explicit necessary and sufficient conditions are established for the…

This paper considers the design of robust state observers for a class of slope-restricted nonlinear descriptor systems with unknown time-varying parameters belonging to a known set. The proposed design accounts for process disturbances and…

In this paper we present a radically new approach to design state observers for nonlinear systems, with particular emphasis on physical ones. Our objective is to obtain an algebraic relation between the unmeasurable part of the state and…

The problem of state reconstruction is considered for uncertain linear time-invariant systems with overparameterization, arbitrary state-space matrices and unknown additive perturbation described by an exosystem. A novel adaptive observer…

This paper proposes a new extended-state observer-based framework for adaptive nonlinear regulator design of a class of nonlinear systems, in the general nonequilibrium theory. By augmenting an extended-state observer with an internal…

Addressing the Out-of-Distribution (OoD) segmentation task is a prerequisite for perception systems operating in an open-world environment. Large foundational models are frequently used in downstream tasks, however, their potential for OoD…

The method to design exponentially stable adaptive observers is proposed for linear time-invariant systems parameterized by unknown physical parameters. Unlike existing adaptive solutions, the system state-space matrices A, B are not…

This paper addresses the problem of resilient state estimation and attack reconstruction for bounded-error nonlinear discrete-time systems with nonlinear observations/ constraints, where both sensors and actuators can be compromised by…