Related papers: ARX-Implementation of encrypted nonlinear dynamic …
This paper discusses a general framework for designing robust state estimators for a class of discrete-time nonlinear systems. We consider systems that may be impacted by impulsive (sparse but otherwise arbitrary) measurement noise…
A method of designing observers and observer-based tracking controllers is proposed for nonlinear systems on manifolds via embedding into Euclidean space and transversal stabilization. Given a system on a manifold, we first embed the…
In this paper we propose a new state observer design technique for nonlinear systems. It consists of an extension of the recently introduced parameter estimation-based observer, which is applicable for systems verifying a particular…
This paper develops a data-based approach to the closed-loop output feedback control of nonlinear dynamical systems with a partial nonlinear observation model. We propose an information state based approach to rigorously transform the…
Finite abstractions (a.k.a. symbolic models) offer an effective scheme for approximating the complex continuous-space systems with simpler models in the discrete-space domain. A crucial aspect, however, is to establish a formal relation…
In this paper, we present a method to encrypt dynamic controllers that can be implemented through most homomorphic encryption schemes, including somewhat, leveled fully, and fully homomorphic encryption. To this end, we represent the output…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
Infinite-dimensional linear systems with unbounded input and output operators are considered. For the purpose of finite-dimensional observer-based state feedback, an observer approximation scheme will be developed which can be directly…
This paper applies a polynomial optimization based framework towards the superstabilizing control of an Autoregressive with Exogenous Input (ARX) model given noisy data observations. The recorded input and output values are corrupted with…
This work proposes a data-driven regulator design that drives the output of a nonlinear system asymptotically to a time-varying reference and rejects time-varying disturbances. The key idea is to design a data-driven feedback controller…
In many applications, system identification experiments must be performed under output feedback to ensure safety or to maintain system operation. In this paper, we consider the online design of informative experiments for ARMAX models by…
This paper concerns the problem of adaptive output regulation for multivariable nonlinear systems in normal form. We present a regulator employing an adaptive internal model of the exogenous signals based on the theory of nonlinear…
In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…
This paper introduces a multiple-input discrete Urysohn operator for modelling non-linear control systems and a technique of its identification by processing the observed input and output signals. It is shown that, due to the nature of the…
Motivated by the increasing need to monitor safety-critical systems subject to uncertainties, a novel set-membership approach is proposed to estimate the state of a dynamical system with unknown-but-bounded exogenous inputs. The proposed…
This paper shows how the theory of nonlinear adaptive observers can be effectively used in the design of internal models for nonlinear output regulation. The theory substantially enhances the existing results in the context of {\em…
Enforcing state and input constraints during reinforcement learning (RL) in continuous state spaces is an open but crucial problem which remains a roadblock to using RL in safety-critical applications. This paper leverages invariant sets to…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
A high-gain observer is used for a class of feedback linearisable nonlinear systems to synthesize safety-preserving controllers over the observer output. A bound on the distance between trajectories under state and output feedback is…
In this paper we consider the joint problems of state estimation and model identification for a class of continuous-time nonlinear systems in output-feedback canonical form. An adaptive observer is proposed that combines an extended…