相关论文: A globally exponentially stable position observer …

The paper addresses the problem of estimating robustly the external load torque in rotary actuator systems, when only the generated motor drive torque and angular displacement are the available input and output. We compare, theoretically…

In the present paper, we study observer design and we establish some sufficient conditions for practical exponential stability for a class of time-delay nonlinear systems written in triangular form. In case of delay, the exponential…

This paper presents new results concerning the observer design for wide classes of nonlinear systems with both sampled and delayed measurements. By using a small gain approach we provide sufficient conditions, which involve both the delay…

In this paper, we study the internal stability and string stability of a vehicle platoon under the constant time headway spacing (CTHS) policy and the multiple-predecessor-following (MPF) vehicle-to-vehicle information flow topology. More…

The method to design exponentially stable adaptive observers is proposed for linear time-invariant systems parameterized by unknown physical parameters. Unlike existing adaptive solutions, the system state-space matrices A, B are not…

This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…

This paper presents a deterministic hybrid observer for the attitude dynamics of a rigid body that guarantees global asymptotical stability. Any smooth attitude observer suffers from the inherent topological restriction that it is…

This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, whose gain is determined only by the unstable modes of the…

This article presents an extended state observer for vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The extended state observer is applicable to a rotorcraft aerial vehicle with a fixed plane of…

For a general class of translationally invariant systems with a specific category of nonlinearity in the output, this paper presents necessary and sufficient conditions for global observability. Critically, this class of systems cannot be…

This paper develops sufficient conditions for the existence of global exponential observers for two classes of nonlinear systems: (i) the class of systems with a globally asymptotically stable compact set, and (ii) the class of systems that…

This paper addresses the global exponential attitude tracking of a spacecraft when gyro measurements are corrupted by bias. Based on contraction analysis, an exponentially convergent nonlinear observer is designed first to estimate the gyro…

We present an event-triggered observer design for linear time-invariant systems, where the measured output is sent to the observer only when a triggering condition is satisfied. We proceed by emulation and we first construct a…

This paper addresses the problem of estimating the position of an object moving in $R^n$ from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to…

In Landmark-Inertial Simultaneous Localisation and Mapping (LI-SLAM), the positions of landmarks in the environment and the robot's pose relative to these landmarks are estimated using landmark position measurements, and measurements from…

We propose a globally exponentially convergent observer for the dynamical system evolving on matrix Lie groups with bounded velocity with unknown bound. We design the observer in the ambient Euclidean space and show exponential convergence…

In this paper we study the question of how to reconstruct the state of a power system using Phasor Measurement Units (PMUs). In our previous research we proved that this question has an affirmative answer imposing some rather strict…

We present the first solution to the problem of estimation of the state of multimachine power systems with lossy transmission lines. We consider the classical three-dimensional \fluxdecay" model of the power system and assume that the…

To understand the empirical success of approximate MAP inference, recent work (Lang et al., 2018) has shown that some popular approximation algorithms perform very well when the input instance is stable. The simplest stability condition…

This paper proposes a unified approach for studying global exponential stability of a general class of switched systems described by time-varying nonlinear functional differential equations. Some new delay-independent criteria of global…