相关论文: IEEEICM25: "A High-Performance Disturbance Observe…

We consider a class of uncertain linear time-invariant overparametrized systems affected by bounded disturbances, which are described by a known exosystem with unknown initial conditions. For such systems an exponentially stable extended…

This article presents the design of a robust observer based on the discrete-time formulation of Uncertainty and Disturbance Estimator (UDE), a well-known robust control technique, for the purpose of controlling robot manipulators. The…

This paper presents an effective approach to identify power quality events based on IEEE Std 1159-2009 caused by intermittent power sources like those of renewable energy. An efficient characterization of these disturbances is granted by…

In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages measurable variables. The distinct feature of our observer…

This paper introduces a novel $\mathcal{H}_{\infty}$-optimal interval observer synthesis for bounded-error/uncertain locally Lipschitz nonlinear continuous-time (CT) and discrete-time (DT) systems with noisy nonlinear observations.…

Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…

Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts or ground and wall effects. Moreover, to maximize flight…

This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. The observer is based on the approximation and subsequent modification of the non-negative Lyapunov…

We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…

This work addresses the design of a robust hybrid observer for discrete-time switched linear systems subject to unknown inputs and modeling errors. The observer herein proposed is synthesized, for the case when the active mode is unknown…

Current state-of-the-art trackers often fail due to distractorsand large object appearance changes. In this work, we explore the use ofdense optical flow to improve tracking robustness. Our main insight is that, because flow estimation can…

This paper presents an improved active disturbance rejection control scheme (IFO-ADRC) with an improved fractional-order extended state observer (IFO-ESO). The structural information of the system is utilized in IFO-ESO rather than buried…

In this paper, the feasibility of recently developed higher order delayed sliding mode controllers is addressed. With this aim the robustness against the measurement noise and mismatched perturbations for the systems governed by such…

By employing a unified state-space design framework, this paper proposes a novel systematic analysis and synthesis method that facilitates the implementation of both conventional zero-order (ZO) and high-order (HO) DObs. Furthermore, this…

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…

Recently, object detection models have witnessed notable performance improvements, particularly with transformer-based models. However, new objects frequently appear in the real world, requiring detection models to continually learn without…

The extended state observer (ESO) plays an important role in the design of feedback control for nonlinear systems. However, its high-gain nature creates a challenge in engineering practice in cases where the output measurement is corrupted…

In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…

This paper proposes a new algorithm for compensating external disturbances for class of multi-channel linear systems. The solution to this problem is based on the use of the internal model principle and the extended error adaptation…

In this paper, we review some recent results about the use of dynamic observers for fault diagnosis of discrete event systems. Fault diagnosis consists in synthesizing a diagnoser that observes a given plant and identifies faults in the…