相关论文: Discrete Nonlinear Observers for Inertial Navigati…

Many nonlinear dynamical systems can be written as Lure systems, which are described by a linear time-invariant system interconnected with a diagonal static sector-bounded nonlinearity. Sufficient conditions are derived for the global…

We study nonlinear dynamics on complex networks. Each vertex $i$ has a state $x_i$ which evolves according to a networked dynamics to a steady-state $x_i^*$. We develop fundamental tools to learn the true steady-state of a small part of the…

Distinguishability and, by extension, observability are key properties of dynamical systems. Establishing these properties is challenging, especially when no analytical model is available and they are to be inferred directly from…

This paper addresses the problem of estimating air velocity and full attitude for unmanned aerial vehicles (UAVs) in GNSS-denied environments using minimal onboard sensing-an interesting and practically relevant challenge for UAV…

A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…

We subject the stationary solutions of inviscid and axially symmetric rotational accretion to a time-dependent radial perturbation, which includes nonlinearity to any arbitrary order. Regardless of the order of nonlinearity, the equation of…

This paper investigates the fundamental information-theoretic limits for the control and sensing of noiseless linear dynamical systems subject to a broad class of nonlinear observations. We analyze the interactions between the control and…

The aim of this paper is to present the application of an approach to study contraction theory recently developed for piecewise smooth and switched systems. The approach that can be used to analyze incremental stability properties of…

The problem of state estimation for a system of coupled hyperbolic PDEs and ODEs with Lipschitz nonlinearities with boundary measurements is considered. An infinite dimensional observer with a linear boundary injection term is used to solve…

This paper proposes a novel approach for designing functional observers for nonlinear systems, with linear error dynamics and assignable poles. Sufficient conditions for functional observability are first derived, leading to functional…

This paper examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a trajectory on a Riemannian manifold by analyzing the…

This paper proposes a simple interval observer which can generate tighter interval estimates of variables in transient states than the standard interval observer. The simple nonlinear dynamics shrinks the estimated intervals to true state…

We analyze the observability of motion estimates from the fusion of visual and inertial sensors. Because the model contains unknown parameters, such as sensor biases, the problem is usually cast as a mixed identification/filtering, and the…

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…

This work introduces a single-range-aided navigation observer that reconstructs the full state of a rigid body using only an Inertial Measurement Unit (IMU), a body-frame vector measurement (e.g., magnetometer), and a distance measurement…

Navigation systems are used daily. While different types of navigation systems exist, inertial navigation systems (INS) have favorable properties for some wearables which, for battery and form factors may not be able to use GPS. Earables…

Identifying dynamical systems from experimental data is a notably difficult task. Prior knowledge generally helps, but the extent of this knowledge varies with the application, and customized models are often needed. Neural ordinary…

In [1], it is established that a convergent observer with an infinite gain margin can be designed for a given nonlinear system when a Riemannian metric showing that the system is differentially detectable (i.e., the Lie derivative of the…

We present a nonlinear dynamical approximation method for time-dependent Partial Differential Equations (PDEs). The approach makes use of parametrized decoder functions, and provides a general, and principled way of understanding and…

This paper presents an optimal dynamic control framework for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations affected by both state and process noise. Rather than directly stabilizing the uncertain system,…