Related papers: Comparison of linear observation techniques for ro…
This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the…
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…
This paper proposes a new algorithm for compensating external disturbances for class of multi-channel linear systems. The solution to this problem is based on the use of the internal model principle and the extended error adaptation…
The reliability, lower computational complexity, and ease of implementation of control observers make them one of the most promising methods for the state estimation of Li-ion batteries (LIBs) in commercial applications. To pave their way,…
The position and the orientation of a rigid body object pushed by a robot on a planar surface are extremely difficult to predict. In this paper, the prediction problem is formulated as a disturbance observer design problem. The disturbance…
Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…
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,…
The design of a position observer for the interior permanent magnet synchronous motor is a challenging problem that, in spite of many research efforts, remained open for a long time. In this paper we present the first globally exponentially…
Designing Luenberger observers for nonlinear systems involves the challenging task of transforming the state to an alternate coordinate system, possibly of higher dimensions, where the system is asymptotically stable and linear up to output…
Motivated by the need of observers that are both robust to disturbances and guarantee fast convergence to zero of the estimation error, we propose an observer for linear time-invariant systems with noisy output that consists of the…
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 $\hat{z}(t)$…
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…
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…
Torque-controlled actuators are critical components in mechatronic systems that closely interact with their environment, such as legged robots, collaborative manipulators, and exoskeletons. The performance and stability of these actuators…
This work deals with the problem of designing observers for the estimation of a single function of the states for discrete-time nonlinear systems. Necessary and sufficient conditions for the existence of lower order functional observers…
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…
In this paper we address the problem of online detection of inter-turn short-circuit faults (ITSCFs) that occur in permanent magnet synchronous motors (PMSMs). We propose two solutions to this problem: (i) a very simple linear observer and…
Observer-based methods are widely used to estimate the disturbances of different dynamic systems. However, a drawback of the conventional disturbance observers is that they all assume persistent excitation (PE) of the systems. As a result,…
This is the second part of four series papers, aiming at the problem of sensor dynamics compensation for abstract linear systems. Two major issues are addressed. The first one is about the sensor dynamics compensation in system observation…
We consider (robust) inference in the context of a factor model for tensor-valued sequences. We study the consistency of the estimated common factors and loadings space when using estimators based on minimising quadratic loss functions.…