911 research outputs found
Interval Prediction for Continuous-Time Systems with Parametric Uncertainties
The problem of behaviour prediction for linear parameter-varying systems is
considered in the interval framework. It is assumed that the system is subject
to uncertain inputs and the vector of scheduling parameters is unmeasurable,
but all uncertainties take values in a given admissible set. Then an interval
predictor is designed and its stability is guaranteed applying Lyapunov
function with a novel structure. The conditions of stability are formulated in
the form of linear matrix inequalities. Efficiency of the theoretical results
is demonstrated in the application to safe motion planning for autonomous
vehicles.Comment: 6 pages, CDC 2019. Website:
https://eleurent.github.io/interval-prediction
Robust observer design under measurement noise
We prove new results on robust observer design for systems with noisy measurement and bounded trajectories. A state observer is designed by dominating the incrementally homogeneous nonlinearities of the observation error system with its linear approximation, while gain adaptation and incremental observability guarantee an asymptotic upper bound for the estimation error depending on the limsup of the norm of the measuremen noise. The gain adaptation is implemented as the output of a stable filter using the squared norm of the measured output estimation error and the mismatch between each estimate and its saturated value
Input-Output-to-State Stability
This work explores Lyapunov characterizations of the input-output-to-state
stability (IOSS) property for nonlinear systems. The notion of IOSS is a
natural generalization of the standard zero-detectability property used in the
linear case. The main contribution of this work is to establish a complete
equivalence between the input-output-to-state stability property and the
existence of a certain type of smooth Lyapunov function. As corollaries, one
shows the existence of ``norm-estimators'', and obtains characterizations of
nonlinear detectability in terms of relative stability and of finite-energy
estimates.Comment: Many related papers can be found in:
http://www.math.rutgers.edu/~sonta
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