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

The purpose of this paper is to deals with the problem of regional boundary asymptotic gradient full order observer (regional boundary asymptotic gradient full order observer) concept by using internal regional case. Thus, we study the…

There is a great demand for vision-based robotics solutions that can operate using Global Positioning Systems (GPS), but are also robust against GPS signal loss and gyroscope failure. This paper investigates the estimation and tracking…

This paper examines the global convergence problem of SLAM algorithms, an issue that faces topological obstructions. This is because the state-space of attitude dynamics is defined on a non-contractible manifold: the special orthogonal…

We solve the problem of output feedback stabilization of a class of nonlinear systems, which may have unstable zero dynamics. We allow for any globally stabilizing full state feedback control scheme to be used as long as it satisfies a…

The indirect approach to continuous-time system identification consists in estimating continuous-time models by first determining an appropriate discrete-time model. For a zero-order hold sampling mechanism, this approach usually leads to a…

Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…

This work deals with the design of a sliding mode observer with a multi-surfaces sliding mode multimodel control (SM-MMC) for a mechanical sensorless pumping system. The observer is designed to estimate the speed and the mechanical position…

Field oriented control of permanent magnet synchronous motor drives involves the closed-loop regulation of currents in the synchronous reference frame. The current feedback is directly affected by errors in both position and stationary…

This paper presents three non-linear observers on three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This…

Non-ideal position estimation results in degraded performance of synchronous motor drive systems due to reduction of the average capability of the drive as well as torque harmonics of different orders. The signature and extent of the…

We present a simple model-free control algorithm that is able to robustly learn and stabilize an unknown discrete-time linear system with full control and state feedback subject to arbitrary bounded disturbance and noise sequences. The…

This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…

This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, denoted SE_{3+n}(3), that unifies the pose, gravity, linear…

A hybrid observer is described for estimating the state of an $m>0$ channel, $n$-dimensional, continuous-time, distributed linear system of the form $\dot{x} = Ax,\;y_i = C_ix,\;i\in\{1,2,\ldots, m\}$. The system's state $x$ is…

This paper explores the stability of nonsynchronous hybrid ac/dc power grids under the grid-forming hybrid angle control strategy. We formulate dynamical models for the ac grids and transmission lines, interlinking converters, and dc…

In this paper, we present a Nonlinear-Proportional Integrator (N-PI) disturbance observer (DOB) to enhance the motion tracking of the performance of a surface-mounted Permanent Magnet Synchronous Motor (SPMSM) in rapidly speed varying…

We show that a sub-homogeneous positive monotone system with bounded heterogeneous time-varying delays is globally asymptotically stable if and only if the corresponding delay-free system is globally asymptotically stable. The proof is…

In this paper, a novel adaptive-gain Second Order Sliding Mode (SOSM) observer is proposed for multicell converters by considering it as a class of hybrid systems. The aim is to reduce the number of voltage sensors by estimating the…

Hybrid physical systems combine continuous and discrete dynamics, which can be simultaneously affected by faults. Conventional fault detection methods often treat these dynamics separately, limiting their ability to capture interacting…

This paper presents an adaptive observer design for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction characteristics parameterized by a matrix of unknown coefficients appearing in the nonlinear (and possibly…