3 papers
cs.RO2026
Control and State Estimation of Vehicle-Mounted Aerial Systems in GPS-Denied, Non-Inertial Environments
Riming Xu, Obadah Wali, Yasmine Marani +1
We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors s…
eess.SY2024
Unsupervised Physics-Informed Neural Network-based Nonlinear Observer design for autonomous systems using contraction analysis
Yasmine Marani, Israel Filho, Tareq Al-Naffouri +1
Contraction analysis offers, through elegant mathematical developments, a unified way of designing observers for a general class of nonlinear systems, where the observer correction…
eess.SY2023
Non-Asymptotic State and Disturbance Estimation for a Class of Triangular Nonlinear Systems using Modulating Functions
Yasmine Marani, Ibrahima N'Doye, Taous-Meriem Laleg-Kirati
Dynamical models are often corrupted by model uncertainties, external disturbances, and measurement noise. These factors affect the performance of model-based observers and as a re…