相关论文: A Semi-global Hybrid Sensorless Observer for Perma…

This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…

Observer design for linear systems with aperiodic sampled-data measurements is addressed. To solve this problem, a novel hybrid observer is designed. The main peculiarity of the proposed observer consists of the use two output injection…

This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we…

This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…

This paper tackles a friction compensation problem without using a friction model. The unique feature of the proposed friction observer is that the nominal motor-side signal is fed back into the controller instead of the measured signal. By…

A speed-sensorless state feedback controller for induction machines (IMs) with LC filter is proposed. The estimation of speed and remaining states is based on a speed-adaptive observer, requiring only the measurement of the filter input…

This paper proposes a semidefinite relaxation for landmark-based localization with unknown data associations in planar environments. The proposed method simultaneously solves for the optimal robot states and data associations in a globally…

Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a…

This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The system is considered as an…

We study the global asymptotic behavior of a grid-connected constant field current synchronous generator (SG). The grid is regarded as an "infinite bus", i.e. a three-phase AC voltage source. The generator does not include any controller…

A fixed-order set-valued observer is presented for linear parameter-varying systems with bounded-norm noise and under completely unknown attack signals, which simultaneously finds bounded sets of states and unknown inputs that include the…

In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias)…

In this paper, we study the problem of designing a simultaneous mode, input, and state set-valued observer for a class of hidden mode switched nonlinear systems with bounded-norm noise and unknown input signals, where the hidden mode and…

This paper deals with the problem of full state estimation for vehicles navigating in a three dimensional space. We assume that the vehicle is equipped with an Inertial Measurement Unit (IMU) providing body-frame measurements of the angular…

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…

We present safe control of partially-observed linear time-varying systems in the presence of unknown and unpredictable process and measurement noise. We introduce a control algorithm that minimizes dynamic regret, i.e., that minimizes the…

The problem of designing a flux observer for magnetic field electromechanical systems from noise corrupted measurements of currents and voltages is addressed in this paper. Imposing a constraint on the systems magnetic energy function,…

We report the design and performance of a non-magnetic drift stable optically pumped cesium magnetometer with a measured sensitivity of 35 fT at 200 s integration time and stability below 50 fT between 70 s and 600 s. To our knowledge this…

In this paper we present a general tool to handle the presence of zero dynamics which are asymptotically but not locally exponentially stable in problems of robust nonlinear stabilization by output feedback. We show how it is possible to…

We investigate the engineering scenario where the objective is to synchronize heterogeneous oscillators in a distributed fashion. The internal dynamics of each oscillator are general enough to capture their time-varying natural frequency as…