相关论文: Observability Conditions and Sensing Quality for U…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

A high-gain extended observer is designed for a class of nonlinear uncertain systems. This observer has the ability of estimating system uncertainty, and it can be used to estimate the derivatives of signal up to order n. The controller…

Output controllability and functional observability are properties that enable, respectively, the control and estimation of part of the state vector. These notions are of utmost importance in applications to high-dimensional systems, such…

We propose a global constructibility analysis for a vehicle moving on a planar surface. Assuming that the vehicle follows a trajectory that can be uniquely identified by the sequence of control inputs and by some intermittent ranging…

We consider a class of parametrically forced Hamiltonian systems with one-and-a-half degrees of freedom and study the stability of the dynamics when the frequency of the forcing is relatively high or low. We show that, provided the…

Dynamics modeling in outdoor and unstructured environments is difficult because different elements in the environment interact with the robot in ways that can be hard to predict. Leveraging multiple sensors to perceive maximal information…

Viscosity is an important property of out-of-equilibrium systems such as active biological materials and driven non-Newtonian fluids, and for fields ranging from biomaterials to geology, energy technologies and medicine. However,…

Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…

Reliable optimal control is challenging when the dynamics of a nonlinear system are unknown and only infrequent, noisy output measurements are available. This work addresses this setting of limited sensing by formulating a Bayesian prior…

The problem of exact observability is analyzed for a wide class of neutral type systems by an infinite dimensional approach. The duality with the exact controllabil-ity problem is the main tool. It is based on an explicit expression of a…

Data-driven methods for the identification of the governing equations of dynamical systems or the computation of reduced surrogate models play an increasingly important role in many application areas such as physics, chemistry, biology, and…

Friction modeling has always been a challenging problem due to the complexity of real physical systems. Although a few state-of-the-art structured data-driven methods show their efficiency in nonlinear system modeling, deterministic…

Numerous state-feedback and observer designs for nonlinear dynamic systems (NDS) have been developed in the past three decades. These designs assume that NDS nonlinearities satisfy one of the following function set classifications: bounded…

A new class of exclusion type processes acting in continuum with synchronous updating is introduced and studied. Ergodic averages of particle velocities are obtained and their connections to other statistical quantities, in particular to…

In this paper, we study the observability of compactly perturbed infinite dimensional systems. Assuming that a given infinite-dimensional system with self-adjoint generator is exactly observable we derive sufficient conditions on a compact…

Many biological phenomena such as locomotion, circadian cycles, and breathing are rhythmic in nature and can be modeled as rhythmic dynamical systems. Dynamical systems modeling often involves neglecting certain characteristics of a…

Long-lived flow patterns in the atmosphere such as weather fronts, mid-latitude blockings or tropical cyclones often induce extreme weather conditions. As a consequence, their description, detection, and tracking has received increasing…

In a Networked Dynamical System (NDS), each node is a system whose dynamics are coupled with the dynamics of neighboring nodes. The global dynamics naturally builds on this network of couplings and it is often excited by a noise input with…

A large variety of dynamical systems, such as chemical and biomolecular systems, can be seen as networks of nonlinear entities. Prediction, control, and identification of such nonlinear networks require knowledge of the state of the system.…

Assessing the systemic effects of uncertainty that arises from agents' partial observation of the true states of the world is critical for understanding a wide range of scenarios. Yet, previous modeling work on agent learning and…