相关论文: Observer design for piecewise smooth and switched …

Linear Parameter-Varying (LPV) systems with piecewise differentiable parameters is a class of LPV systems for which no proper analysis conditions have been obtained so far. To fill this gap, we propose an approach based on the theory of…

This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…

For three-dimensional piecewise-smooth systems of ordinary differential equations, this paper characterises the stability of points that belong to a switching surface and are equilibria of exactly one of the two neighbouring pieces of the…

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…

Contraction theory is a mathematical framework for studying the convergence, robustness, and modularity properties of dynamical systems and algorithms. In this opinion paper, we provide five main opinions on the virtues of contraction…

We study convergence in networks of piecewise-smooth (PWS) systems that commonly arise in applications to model dynamical systems whose evolution is affected by macroscopic events such as switches and impacts. Existing approaches were…

Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…

This note presents an extension to the adaptive control strategy presented in [1] able to counter eventual instability due to disturbances at the input of an otherwise $\mathcal{L}_2$ stable closed-loop system. These disturbances are due to…

We studied piecewise smooth differential systems of the form $$\dot{z} = Z(z) = \dfrac{1 + \operatorname{sgn}(F)}{2}X(z) + \dfrac{1 - \operatorname{sgn}(F)}{2}Y(z),$$ where $F: \mathbb{R}^{n}\rightarrow \mathbb{R}$ is a smooth map having 0…

Modeling the temporal behavior of data is of primordial importance in many scientific and engineering fields. Baseline methods assume that both the dynamic and observation equations follow linear-Gaussian models. However, there are many…

These notes derive a number of technical results on nonlinear contraction theory, a comparatively recent tool for system stability analysis. In particular, they provide new results on the preservation of contraction through system…

We survey work on the paradigm called "computing by observing." Its central feature is that one considers the behavior of an evolving system as the result of a computation. To this end an observer records this behavior. It has turned out…

This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…

We demonstrate with a minimal example that in Filippov systems (dynamical systems governed by discontinuous but piecewise smooth vector fields) stable periodic motion with sliding is not robust with respect to stable singular perturbations.…

We discuss technical results on learning function approximations using piecewise-linear basis functions, and analyze their stability and convergence using nonlinear contraction theory.

This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…

In this paper we propose a new observer design technique for nonlinear systems. It combines the well-known Kazantzis-Kravaris-Luenberger observer and the recently introduced parameter estimation-based observer, which become special cases of…

This paper derives new results for the analysis of nonlinear systems by extending contraction theory in the framework of vector distances. A new tool, vector contraction analysis utilizing a notion of the vector-valued norm which evidently…

This paper is concerned with fault estimation in a class of nonlinear fractional order systems using a new super twisting algorithm based second order step by step sliding mode observer. Since the existing sliding mode observers are…

This paper presents an efficient, offline method to simultaneously synthesize controllers and seek closed-loop Lyapunov functions for constrained piecewise affine systems on triangulated subsets of the admissible states. Triangulation…