Related papers: Robust stability of event-triggered nonlinear movi…

Estimating and reacting to disturbances is crucial for robust flight control of quadrotors. Existing estimators typically require significant tuning for a specific flight scenario or training with extensive ground-truth disturbance data to…

In this paper, we investigate the stabilization of a nonlinear plant subject to network constraints, under the assumption of partial knowledge of the plant state. The event triggered paradigm is used for the observation and the control of…

The control of field robots in varying and uncertain terrain conditions presents a challenge for autonomous navigation. Online estimation of the wheel-terrain slip characteristics is essential for generating the accurate control predictions…

In this paper, a new nonlinear identification framework is proposed to address the issue of off-line computation of moving-horizon observer estimate. The proposed structure merges the advantages of nonlinear approximators with the efficient…

This paper formalises the concepts of weakly and weakly regularly persistent input trajectory as well as their link to the Observability Grammian and the existence and uniqueness of solutions of Moving Horizon Estimation (MHE) problems.…

A hybrid dynamical system switches between dynamic regimes at time- or state-triggered events. We propose an offline algorithm that simultaneously estimates discrete and continuous components of a hybrid system's state. We formulate state…

This paper introduces a novel optimization-based approach for parametric nonlinear system identification. Building upon the prediction error method framework, traditionally used for linear system identification, we extend its capabilities…

In this paper, we design a nonparametric online algorithm for estimating the triggering functions of multivariate Hawkes processes. Unlike parametric estimation, where evolutionary dynamics can be exploited for fast computation of the…

This paper presents a recursive solution to the receding or moving horizon estimation (MHE) problem for nonlinear time-variant systems. We provide the conditions under which the recursive MHE is equivalent to the extended Kalman filter…

Estimating and reacting to external disturbances is of fundamental importance for robust control of quadrotors. Existing estimators typically require significant tuning or training with a large amount of data, including the ground truth, to…

This paper presents a class of event-triggering rules for dynamical control systems with guaranteed positive minimum inter-event time (MIET). We first propose an event-based function design with guaranteed control performance under a…

Event cameras emit asynchronous brightness-change events where each pixel triggers an event when the last event exceeds a threshold, yielding a history-dependent measurement model. We address online maximum-likelihood identification of…

The stability analysis of model predictive control schemes without terminal constraints and/or costs has attracted considerable attention during the last years. We pursue a recently proposed approach which can be used to determine a…

In this work, we address the output--feedback control problem for nonlinear systems under bounded disturbances using a moving horizon approach. The controller is posed as an optimization-based problem that simultaneously estimates the state…

This paper proposes an event-triggered variational Bayesian filter for remote state estimation with unknown and time-varying noise covariances. After presetting multiple nominal process noise covariances and an initial measurement noise…

Deploying autonomous systems in safety critical settings necessitates methods to verify their safety properties. This is challenging because real-world systems may be subject to disturbances that affect their performance, but are unknown a…

We present a hybrid scheme for the parameter and state estimation of nonlinear continuous-time systems, which is inspired by the supervisory setup used for control. State observers are synthesized for some nominal parameter values and a…

In this work, we consider the problem of event-triggered implementation of control laws designed for the local stabilization of nonlinear systems with center manifolds. We propose event-triggering conditions which are derived from a local…

We present an event-triggered observer design for linear time-invariant systems, where the measured output is sent to the observer only when a triggering condition is satisfied. We proceed by emulation and we first construct a…

This paper studies synchronization of dynamical networks with event-based communication. Firstly, two estimators are introduced into each node, one to estimate its own state, and the other to estimate the average state of its neighbours.…