相关论文: Discrete Nonlinear Observers for Inertial Navigati…
The dynamic mode decomposition (DMD) is a data-driven method used for identifying the dynamics of complex nonlinear systems. It extracts important characteristics of the underlying dynamics using measured time-domain data produced either by…
In this paper we consider the joint problems of state estimation and model identification for a class of continuous-time nonlinear systems in output-feedback canonical form. An adaptive observer is proposed that combines an extended…
Stochastic contraction analysis is a recently developed tool for studying the global stability properties of nonlinear stochastic systems, based on a differential analysis of convergence in an appropriate metric. To date, stochastic…
In this work, the problem of designing observers for estimating a single nonlinear functional of the state is formulated for general nonlinear systems. Notions of functional observer linearization are also formulated, in terms achieving…
In this paper we address the problem of state observation for sensorless control of nonlinear magnetic levitation systems, that is, the regulation of the position of a levitated object measuring only the voltage and current of the…
In this paper, the optimization-based alignment (OBA) methods are investigated with main focus on the vector observations construction procedures for the strapdown inertial navigation system (SINS). The contributions of this study are…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
In this paper we are interested in the problem of state observation of state-affine nonlinear systems. Our main contribution is to propose a globally exponentially convergent observer that requires only the necessary assumption of…
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements. Two types of hybrid…
In this note, we study Luenberger-type full-state observers for nonlinear systems using contraction theory. We show that if the matrix measure of a suitably defined Jacobian matrix constructed from the dynamics of the system-observer…
Problem of an adaptive state observer design for nonlinear system with unknown time-varying parameters and under condition of delayed measurements is considered. State observation problem was raised by many researchers (see for example Sanx…
The task of indoor positioning is fundamental to several applications, including navigation, healthcare, location-based services, and security. An emerging field is inertial navigation for pedestrians, which relies only on inertial sensors…
This work deals with the problem of designing disturbance decupled observers for the estimation of a function of the states in nonlinear systems. Necessary and sufficient conditions for the existence of lower order disturbance decoupled…
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…
A novel approach to the problem of partial state estimation of nonlinear systems is proposed. The main idea is to translate the state estimation problem into one of estimation of constant, unknown parameters related to the systems initial…
Rotating the clamped ends of a buckled elastica induces a snap-through instability. Predicting the limit point and determining the equilibria at the start and end of the snap are routine computations in the quasi-static setting. The…
Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…
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…
We study state estimation for nonlinear differential-algebraic systems, where the nonlinearity satisfies a Lipschitz condition or a generalized monotonicity condition or a combination of these. The presented observer design unifies earlier…
Correcting gradual position drift is a challenge in long-term subsea navigation. Though highly accurate, modern inertial navigation system (INS) estimates will drift over time due to the accumulated effects of sensor noise and biases, even…