相关论文: Sliding Mode Observer for Set-valued Lur'e Systems…

The disorder induced feedback makes random lasers very susceptible to any changes in the scattering medium. The sensitivity of the lasing modes to perturbations in the disordered systems have been utilized to map the regions of…

This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…

In this note, it is shown by counterexamples, theoretical analysis and simulation tests that the two types of sliding-mode controllers presented in the paper [1] fail to solve the stabilization problem of a class of under-actuated…

This work addresses the problem of designing an equivariant observer for a first order dynamical system on the unit-sphere. Building upon the established case of unit bearing vector dynamics with angular velocity inputs, we introduce an…

We study a phase diagram for the sliding Luttinger liquid (SLL) of coupled one-dimensional quantum wires packed in a two-dimensional array in the absence of a magnetic field. We analyze whether nearest-neighbor inter-wire interactions,…

We propose a new design of a neural network for solving a zero shot super resolution problem for turbulent flows. We embed Luenberger-type observer into the network's architecture to inform the network of the physics of the process, and to…

We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis…

Acoustic invisibility of a cloaking system in turbulent uids has been poorly understood. Here we show that evident scattering would appear in turbulent wakes owing to the submergence of a classical cloaking device. The inherent mechanism is…

This paper is devoted to the stability analysis of an n species Lotka-Volterra system with discrete and distributed delays. Stochastic perturbations to the parameters of the model are allowed. Sufficient conditions for the almost sure…

Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including…

This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…

In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to…

This paper considers the problem of set-based state estimation for linear time-invariant (LTI) systems under time-varying sensor attacks. Provided that the LTI system is stable and observable via every single sensor and that at least one…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

In this paper we study a problem in oscillations wherein the assumed modes method offers some analytical and theoretical peculiarities. Specifically, we study small in-plane oscillations of a slack catenary, or a sagging inextensible chain…

In scientific inquiry of small scale energy and transition events, the effect of an observer on the measurement can be substantial. Similarly, the methods of observation can create entirely different understandings of the system behavior,…

Two nested classes of discrete-time linear time-invariant systems, which differ by the set of periodic signals that they leave invariant, are studied. The first class preserves the property of periodic monotonicity (period-wise…

A robust nonlinear stochastic observer for simultaneous localization and mapping (SLAM) is proposed using the available uncertain measurements of angular velocity, translational velocity, and features. The proposed observer is posed on the…

The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…

Observer-based methods are widely used to estimate the disturbances of different dynamic systems. However, a drawback of the conventional disturbance observers is that they all assume persistent excitation (PE) of the systems. As a result,…