This paper deals with the simultaneous estimation of attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying body-frame acceleration, angular (stereo or monocular) bearing measurements some landmarks that are constant known in frame. Unlike existing local Kalman-type observers, our proposed gua...

In this paper we propose a new robust scheme of nonpeaking nonlinear observers. The observation strategy is issued from differential algebra where the unmeasured states are given as outputs of a time-varying linear differentiator that guarantees robustness against measurement errors. We show that for a certain initial condition, the n-dimensional differentiator does not exhibit the peaking phen...

This paper investigates the exponential observer problem for the Lotka-Volterra (L-V) systems. We have applied Sundarapandian’s theorem (2002) for nonlinear observer design to solve the problem of observer design problem for the L-V systems. The results obtained in this paper are applicable to solve the problem of nonlinear observer design problem for the L-V models of population ecology in the...

In this paper, new results have been derived for the local observer design for nonlinear control systems with real parametric uncertainty around equilibia. In this paper, it is first shown that equilibrium-state detectability is a necessary condition for the existence of local asymptotic observers for any nonlinear system and using this result, it is shown that for the classical case, when the ...

There is a basic assumption in using state feedback control, i.e., we assume that all the state variables are available for direct measurements. However, in many situations the complete state is not available; so it is necessary to obtain an estimate of the current state of the given system from measurements of its output. For this purpose, Luenberger (1964, 1966) showed how to construct an obs...