相关论文: Two Globally Convergent Adaptive Speed Observers f…

Aghannan and Rouchon proposed a new design method of asymptotic observers for a class of nonlinear mechanical systems: Lagrangian systems with configuration (position) measurements. The observer is based on the Riemannian structure of the…

Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…

This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depending on a generic potential function) evolving on…

For mechanical systems we present a controller able to track an unknown smooth signal, converging in finite time and by means of a continuous control signal. The control scheme is insensitive against unknown perturbations with bounded…

In this note, we study Luenberger-type full-state observers for nonlinear systems using contraction theory. We show that if the matrix measure of a suitably defined Jacobian matrix constructed from the dynamics of the system-observer…

The paper proposes an adaptive observer of the state vector of a nonlinear time varying system based on measurements of the output variable. The problem is solved under the assumption that the control matrix (vector) and the nonlinear…

This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…

This work presents a safe control design approach that integrates the disturbance observer (DOB) and the control barrier function (CBF) for systems with external disturbances. Different from existing robust CBF results that consider the…

In this paper, we propose a suboptimal moving horizon estimator for nonlinear systems. For the stability analysis we transfer the "feasibility-implies-stability/robustness" paradigm from model predictive control to the context of moving…

We consider the convergence of kinetic Langevin dynamics to its ergodic invariant measure, which is Gibbs distribution. Instead of the standard setup where the friction coefficient is a constant scalar, we investigate position-dependent…

Inertial Navigation Systems (INS) are algorithms that fuse inertial measurements of angular velocity and specific acceleration with supplementary sensors including GNSS and magnetometers to estimate the position, velocity and attitude, or…

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…

This paper explores the properties of adaptive systems with closed-loop reference models. Using additional design freedom available in closed-loop reference models, we design new adaptive controllers that are (a) stable, and (b) have…

In this paper, we apply the recently developed generalized parameter estimation-based observer design technique for state-affine systems to the practically important case of linear time-varying descriptor systems with uncertain parameters.…

The prevailing models for advancing dynamic contact angle are under intensive debates, and the fitting performances are far from satisfying in practice. The present study proposes a model based on the recent understanding of the multi-scale…

This paper considers the observer design problem for discrete-time nonlinear dynamical systems with sampled measurement data. Earlier, the recently proposed Iteratively Preconditioned Gradient-Descent (IPG) observer, a Newton-type observer,…

In this paper, we deal with the problem of the stabilization in the sample-and-hold sense, by emulation of continuous-time, observer-based, global stabilizers. Fully nonlinear time-delay systems are studied. Sufficient conditions are…

Dynamical systems, that are used to model power grids, the brain, and other physical systems, can exhibit coexisting stable states known as attractors. A powerful tool to understand such systems, as well as to better predict when they may…

Robust global stabilization of nonlinear systems by observer-based feedback controllers is a challenging task. This article investigates the problem of designing observer-based stabilizing controllers for incrementally quadratic nonlinear…

In this paper we study the continuous dependence with respect to obstacles for obstacle problems with measure data. This is deeply investigated introducing a suitable type of convergence, which gives stability under very general hypotheses.…