相关论文: Stable Estimation of Rigid Body Motion using Geome…

The vortex-induced vibration of multiple spring-mounted bodies free to move in the orthogonal direction of the flow is investigated. In a first step, we derive a Linear Arbitrary Lagrangian Eulerian (L-ALE) method to solve the…

Rigid body localization refers to a problem of estimating the position of a rigid body along with its orientation using anchors. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the rigid body…

In this paper the exact analytical solution of the motion of a rigid body with arbitrary mass distribution is derived in the absence of forces or torques. The resulting expressions are cast into a form where the dependence of the motion on…

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…

We propose a moving horizon estimation scheme for estimating the states and time-varying parameters of nonlinear systems. We consider the case where observability of the parameters depends on the excitation of the system and may be absent…

Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658 (1998)] showed that a gravity-powered toy with no control and which has no statically stable near-standing configurations can walk stably. We show here that a…

This work is devoted to a systematic exposition of the dynamics of a rigid body, considered as a system with kinematic constraints. Having accepted the variational problem in accordance with this, we no longer need any additional postulates…

Operating complex real-world systems, such as soft robots, can benefit from precise predictive control schemes that require accurate state and model knowledge. This knowledge is typically not available in practical settings and must be…

Recently there are a considerable amount of work devoted to the study of the algorithmic stability and generalization for stochastic gradient descent (SGD). However, the existing stability analysis requires to impose restrictive assumptions…

In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude estimation, which requires to know the velocity of the…

A novel approach is presented for computing flexible body dynamics based on conventional structural dynamics models. This approach innovatively captures the rigid body motion component embedded within a flexible body's movement, generates…

Research on assistive technology, rehabilitation, and prosthesis requires the understanding of human machine interaction, in which human muscular properties play a pivotal role. This paper studies a nonlinear agonistic-antagonistic muscle…

For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…

Using the rigid body as an example, we illustrate some features of stochastic geometric mechanics. These features include: i) a geometric variational motivation for the noise structure involving Lie-Poisson brackets and momentum maps, ii)…

A robust observer for performing power system dynamic state estimation (DSE) of a synchronous generator is proposed. The observer is developed using the concept of $\mathcal{L}_{\infty}$ stability for uncertain, nonlinear dynamic generator…

A novel method for the numerical prediction of the slowly varying dynamics of nonlinear mechanical systems has been developed. The method is restricted to the regime of an isolated nonlinear mode and consists of a two-step procedure: In the…

The rigid-body attitude tracking using vector and biased gyro measurements with unknown inertia matrix is studied in this note. First, a gyro-bias observer with global exponential stability is designed. Then, an attitude tracking controller…

We propose an analysis for the stabilized finite element methods proposed in, E. Burman, Stabilized finite element methods for nonsymmetric, noncoercive, and ill-posed problems. Part I: Elliptic equations. SIAM J. Sci. Comput., 35(6) 2013,…

Two nonlinear observers for velocity-aided attitude estimation, relying on gyrometers, accelerometers, magnetometers, and velocity measured in the body-fixed frame, are proposed. As opposed to state-of-the-art body-fixed velocity-aided…

In this paper, we propose a sample-based moving horizon estimation (MHE) scheme for general nonlinear systems to estimate the current system state using irregularly and/or infrequently available measurements. The cost function of the MHE…