Related papers: Adaptive Observers as Nonlinear Internal Models
This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
The theory of Kazantzis-Kravaris/Luenberger (KKL) observer design introduces a methodology that uses a nonlinear transformation map and its left inverse to estimate the state of a nonlinear system through the introduction of a linear…
Distributed dynamic compensators, also known as distributed observer, play a key role in the output consensus problem of heterogeneous nonlinear multi-agent systems. However, most existing distributed dynamic compensators require either the…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
The output regulation problem for unknown linear systems has been studied using state-based and output-based internal model approaches in the special case with no disturbances. This paper further investigates the output regulation problem…
It is typically proven in adaptive control that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the $d$-step…
In this paper, a bipartite output regulation problem is solved for a class of nonlinear multi-agent systems subject to static signed communication networks. A nonlinear distributed observer is proposed for a nonlinear exosystem with…
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…
We study synchronization of nonlinear systems that satisfy an incremental passivity property. We consider the case where the control input is subject to a class of disturbances, including constant and sinusoidal disturbances with unknown…
A new approach to design of nonlinear observers (state estimators) is proposed. The main idea is to (i) construct a convex set of dynamical systems which are contracting observers for a particular system, and (ii) optimize over this set for…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
The paper investigates nonlinear control laws obtained from linear one by two types of substitutions using odd functions. The first substitution consists in passing each component of the state vector through a nonlinear function, the second…
The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a prominent approach for learning these linear embeddings through…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
Various methods are nowadays available to design observers for broad classes of systems. Nevertheless, the question of the tuning of the observer to achieve satisfactory estimation performance remains largely open. This paper presents a…
For a general class of translationally invariant systems with a specific category of nonlinearity in the output, this paper presents necessary and sufficient conditions for global observability. Critically, this class of systems cannot be…
In this paper, we propose a novel framework for disturbance rejection in a class of nonautonomous nonlinear systems affected by trigonometric-polynomial disturbances. The core of our approach is the design of a canonical internal model that…
This paper presents a framework on minimal-order appointed-time unknown input observers for linear systems based on the pairwise observer structure. A minimal-order appointed-time observer is first proposed for the linear system without the…
In this paper, a concurrent learning based adaptive observer is developed for a class of second-order nonlinear time-invariant systems with uncertain dynamics. The developed technique results in simultaneous online state and parameter…