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AbstractBased on the theory of positive systems, the goal of interval observers is to compute sets of admissible values of the state vector at each instant of time for systems subject to bounded uncertainties (noises, disturbances and parameters). The size of the estimated sets, which should be...
AbstractThis paper examines the state estimation problem for unmanned aerial vehicles when commonly used positioning systems such as the global positioning system or indoor motion capture systems are unavailable. The proposed method uses inertial sensor measurements along with scaled position...
AbstractThis paper presents the applications of observers in robot-assisted medical procedures, in which robotic manipulators act in collaboration with surgeons or therapists to improve the efficiency and accuracy of the interventions. Observers can be considered as replacements for sensors to...
AbstractThis paper presents a new generalized dynamic observer (GDO) for quasi-linear parameter varying (LPV) systems. It generalises the structures of the proportional observer (PO) and proportional integral observer (PIO). The design of the GDO is derived from the solution of linear matrix...
AbstractThis paper presents a disturbance observer based input saturated visual servoing law for a quadrotor unmanned aerial vehicle (UAV). The controller regulates the 4D relative pose, i. e., 3D translational and yaw motion, between the vehicle and a planar horizontal visual target in an...
AbstractThis work investigates a functional estimation problem for single input single output linear and nonlinear systems, motivated by its enabling role in acceleration-based semi-active control. Solvability of a linear functional estimation problem is studied from a geometric approach, where...
AbstractAided localization, a nonlinear observer design problem, is critical to a range of mobile robotics applications. Thispaper provides a tutorial presentation of the required background, design steps and calculations of a scan matching-aidedlocalization observer using the novel invariant...
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