相关论文: Observers for a non-Lipschitz triangular form

In this work, the problem of designing observers for estimating a single nonlinear functional of the state is formulated for general nonlinear systems. Notions of functional observer linearization are also formulated, in terms achieving…

This paper proposes a novel unified interval-valued observer synthesis approach for locally Lipschitz nonlinear continuous-time (CT) and discrete-time (DT) systems with nonlinear observations. A key feature of our proposed observer, which…

This paper introduces an advanced Lyapunov stability analysis for an attitude observer that has been developed on the special orthogonal group. In particular, when the attitude observer is constructed based on multiple direction…

Observer design typically requires the observability of the underlying system, which may be hard to verify for nonlinear systems, while guaranteeing asymptotic convergence of errors, which may be insufficient in order to satisfy performance…

In this note we deal with a new observer for nonlinear systems of dimension n in canonical observability form. We follow the standard high-gain paradigm, but instead of having an observer of dimension n with a gain that grows up to power n,…

This paper proposes a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each…

The problem of state estimation for a system of coupled hyperbolic PDEs and ODEs with Lipschitz nonlinearities with boundary measurements is considered. An infinite dimensional observer with a linear boundary injection term is used to solve…

Control and state estimation of nonlinear systems satisfying a Lipschitz continuity condition have been important topics in nonlinear system theory for over three decades, resulting in a substantial amount of literature. The main criticism…

This paper utilizes the recently proposed cubic observer to estimate the state of a class of nonlinear systems. The cubic observer is proposed as an alternative to linear observers for improved convergence rate and robustness. It is shown…

The Generalized Super-Twisting Observer (GSTO) is extended for a strongly observable class of nonlinearly interconnected systems with bounded uncertainties/perturbations. A nonsmooth strong Lyapunov function is used to prove the finite-time…

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…

We consider the classical problem of estimating the attitude and gyro biases of a rigid body from vector measurements and a triaxial rate gyro. We propose a simple "geometry-free" nonlinear observer with guaranteed uniform global asymptotic…

We state sufficient conditions for the existence, on a given open set, of the extension, to nonlinear systems, of the Luenberger observer as it has been proposed by Kazantzis and Kravaris. We prove it is sufficient to choose the dimension…

This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the…

In this paper, a new method of H_infinity observer design for Lipschitz nonlinear systems is proposed in the form of an LMI optimization problem. The proposed observer has guaranteed decay rate (exponential convergence) and is robust…

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 work is concerned with robust filtering of nonlinear sampled-data systems with and without exact discrete-time models. A linear matrix inequality (LMI) based approach is proposed for the design of robust $H_{\infty}$ observers for a…

We propose a single time-scale stochastic subgradient method for constrained optimization of a composition of several nonsmooth and nonconvex functions. The functions are assumed to be locally Lipschitz and differentiable in a generalized…

We discuss a design approach for nonlinear discrete-time adaptive observer. This involves transforming a nonlinear system into a quasi-LPV (Linear Parameter Varying) polytopic model in Takagi-Sugeno (T-S) form using nonlinear embedding and…

We study convergence of nonlinear systems in the presence of an `almost Lyapunov' function which, unlike the classical Lyapunov function, is allowed to be nondecreasing---and even increasing---on a nontrivial subset of the phase space.…