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Nonlinear parameter-varying embeddings for nonlinear state estimation with application to a two-link robot manipulator — arXiv:2609.18603

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.18603
License (as archived): CC0-1.0
Archived: 2026-10-15T15:40:21.883Z
SHA-256 of the archived text: 3c703a2244e957a2ce1ba850a6edcf425d444f2007983e49c20d06fafc0d6a1a
Stable URL of this page: https://metraipolis.com/documento/dc_ade30cef6ea0

How to cite

Nonlinear parameter-varying embeddings for nonlinear state estimation with application to a two-link robot manipulator — arXiv:2609.18603 — arXiv (en), https://arxiv.org/abs/2609.18603 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_ade30cef6ea0 (Metraipolis archive dc_ade30cef6ea0, sha256 3c703a2244e957a2ce1ba850a6edcf425d444f2007983e49c20d06fafc0d6a1a)

BibTeX

@misc{dcade30cef6ea0,
  title = {Nonlinear parameter-varying embeddings for nonlinear state estimation with application to a two-link robot manipulator — arXiv:2609.18603},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.18603},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_ade30cef6ea0; sha256 3c703a2244e957a2ce1ba850a6edcf425d444f2007983e49c20d06fafc0d6a1a},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.18603. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Observer design for nonlinear systems is a relevant and challenging task in systems and control design. In this work, we follow the idea of embedding the system in the class of nonlinear parameter-varying systems to benefit from linear structures as in a standard LPV embedding while keeping some nonlinear structures and, thus, reducing the numbers of scheduling-parameters in the representation. We lay out the NLPV observer design procedure for general nonlinear systems, propose a number of improvements, and exemplify the application for a two-arm robot model. In a numerical study, we compare the performance of the NLPV design to established standard nonlinear approaches such as the \emph{extended Kalman filter} and the \emph{moving horizon estimation}.

Tema degli esploratori: matematica e informatica teorica (retro-catalogo arXiv: annunci del 2026-09-17 in math.OC).
Categorie arXiv: Optimization and Control (math.OC).
Pagina del lavoro: https://arxiv.org/abs/2609.18603 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-15T15:08:22.600Z dalla pagina https://arxiv.org/catchup/math.OC/2026-09-17?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).