相关论文: Non-linear Symmetry-preserving Observer on Lie Gro…
This paper proposes a new extended-state observer-based framework for adaptive nonlinear regulator design of a class of nonlinear systems, in the general nonequilibrium theory. By augmenting an extended-state observer with an internal…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
This paper proposes a novel distributed interval observer design for linear time-invariant (LTI) discrete-time systems subject to bounded disturbances. In the proposed observer algorithm, each agent in a networked group exchanges…
The trajectory tracking problem is a fundamental control task in the study of mechanical systems. A key construction in tracking control is the error or difference between an actual and desired trajectory. This construction also lies at the…
A time-invariant, linear, distributed observer is described for estimating the state of an $m>0$ channel, $n$-dimensional continuous-time linear system of the form $ \dot{x} = Ax,\ y_i = C_i x,\ i \in \{1,2,\cdots, m\}$. The state $x$ is…
This paper proposes a novel approach for designing functional observers for nonlinear systems, with linear error dynamics and assignable poles. Sufficient conditions for functional observability are first derived, leading to functional…
The orthogonal groups are a series of simple Lie groups associated to symmetric bilinear forms. There is no analogous series associated to symmetric trilinear forms. We introduce an infinite dimensional group-like object that can be viewed…
We first develop systematic and comprehensive interval observer designs for linear time-invariant (LTI) systems, under standard assumptions of observability and interval bounds on the initial condition and uncertainties. Traditionally, such…
In this paper, we develop a representation-theoretic formulation of discrete-time linear systems. We show that such systems are naturally viewed as representations of time groups acting on vector spaces, thereby endowing the state space…
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…
Control systems of interest are often invariant under Lie groups of transformations. For such control systems, a geometric framework based on Lie symmetry is formulated, and from this a sufficient condition for dynamic feedback…
This note investigates the distributed estimation problem for continuous-time linear time-invariant (LTI) systems observed by a network of observers. Each observer in the network has access to only part of the output of the observed system,…
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…
This paper presents a low-dimensional observer design for stable, single-input single-output, continuous-time linear time-invariant (LTI) systems. Leveraging the model reduction by moment matching technique, we approximate the system with a…
This paper is devoted to the design of full order proportional-integral observer for the state estimation of discrete-time linear time-invariant systems. In particular, explicit necessary and sufficient conditions are established for the…
We study a class of nonlinear evolution systems of time fractional partial differential equations using Lie symmetry analysis. We obtain not only infinitesimal symmetries but also a complete group classification and a classification of…
The design of an invariant tracking control law for the kinematic car driving on a sphere is discussed. Using a Lie group framework a left-invariant description on SO(3) is derived. Basic geometric considerations allow a direct comparison…
We give criteria for finite dimensionality or infinite dimensionality of the polynomial centralizer of the Lie algebra of a linear Lie group, in terms of invariants and relative invariants of the group. In the finite dimensional scenario…
In this paper, we consider the problem of designing an asymptotic observer for a nonlin-ear dynamical system in discrete-time following Luenberger's original idea. This approach is a two-step design procedure. In a first step, the problem…
While a physical theory should be independent of the coordinate frame chosen by any observer, the observations themselves in fact depend on the choice of coordinates. In particular, different coordinate frames reflect different symmetries…