Related papers: Comparison of linear observation techniques for ro…
Accurate velocity estimation is key to vehicle control. While the literature describes how model-based and learning-based observers are able to estimate a vehicle's velocity in normal driving conditions, the challenge remains to estimate…
There has been a surge of interest in developing robust estimators for models with heavy-tailed and bounded variance data in statistics and machine learning, while few works impose unbounded variance. This paper proposes two type of robust…
Relying on recent research results on Neural ODEs, this paper presents a methodology for the design of state observers for nonlinear systems based on Neural ODEs, learning Luenberger-like observers and their nonlinear extension…
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…
Observer design for linear systems with aperiodic sampled-data measurements is addressed. To solve this problem, a novel hybrid observer is designed. The main peculiarity of the proposed observer consists of the use two output injection…
Ordinary least-squares (OLS) estimators for a linear model are very sensitive to unusual values in the design space or outliers among y values. Even one single atypical value may have a large effect on the parameter estimates. This article…
Accurate and robust trajectory predictions of road users are needed to enable safe automated driving. To do this, machine learning models are often used, which can show erratic behavior when presented with previously unseen inputs. In this…
The design of a nonlinear Luenberger observer for a parametrized linear SISO (single-input single-output) system is studied. From an observability assumption of the system, the existence of such an observer is concluded. In a second step, a…
Dynamic components of the friction may directly impact the stability and performance of the motion control systems. The LuGre model is a prevalent friction model utilized to express this dynamic behavior. Since the LuGre model is very…
This paper proposes an algebraic observer-based modulating function approach for linear time-variant systems and a class of nonlinear systems with discrete measurements. The underlying idea lies in constructing an observability…
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 present a Nonlinear-Proportional Integrator (N-PI) disturbance observer (DOB) to enhance the motion tracking of the performance of a surface-mounted Permanent Magnet Synchronous Motor (SPMSM) in rapidly speed varying…
This paper presents an Adaptive Gain Nonlinear Observer (AGNO) for estimating the external interaction wrench (forces and torques) in human-UAV physical interaction for assistive payload transportation. The proposed AGNO uses the full…
Switched Reluctance Motors (SRMs) enable power-efficient actuation with mechanically simple designs. This paper aims to identify the nonlinear relationship between torque, rotor angle, and currents, to design commutation functions that…
Observational cohort studies are increasingly being used for comparative effectiveness research to assess the safety of therapeutics. Recently, various doubly robust methods have been proposed for average treatment effect estimation by…
This work introduces a learning-enhanced observer (LEO) for linear time-invariant systems with uncertain dynamics. Rather than relying solely on nominal models, the proposed framework treats the system matrices as optimizable variables and…
In this paper, new stability analysis methods are proposed for digital robust motion control systems implemented using a disturbance observer.
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…
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…
Hamiltonian simulation is one of the most promising applications of quantum computers, and the product formula is one of the most important methods for this purpose. Previous related work has mainly focused on the worst$-$case or…