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Activity estimation via distributed measurements in an orientation sensitive neural fields model of the visual cortex

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MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS 2025年 1-31页

作者： Annabi, Adel Malik Pomet, Jean-Baptiste Prandi, Dario Sacchelli, Ludovic Univ Cote Azur INRIA CNRS LJAD Nice France Univ Paris Saclay CNRS CentraleSupelec Lab Signaux & Syst Gif Sur Yvette France

This paper investigates the online estimation of neural activity within the primary visual cortex (V1) in the framework of observability theory. We focus on a low-dimensional neural fields modeling hypercolumnar activity to describe activity in V1. We utilize the average cortical activity over V1 as measurement. Our contributions include detailing the model's observability singularities and developing a hybrid high-gain observer that achieves, under specific excitation conditions, practical convergence while maintaining asymptotic convergence in cases of biological relevance. The study emphasizes the intrinsic link between the model's nonlinear nature and its observability. We also present numerical experiments highlighting the different properties of the observer.

关键词： observability and observer design Nonlinear systems Biological systems Neural Fields

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Levant's differentiator by interconnection of low order blocks 3rd

Levant's differentiator by interconnection of low order bloc...

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3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MiCNON)

作者： Moreno, Jaime A. Univ Nacl Autonoma Mexico Inst Ingn Elect & Computac Mexico City DF Mexico

On-line differentiation of (differentiable) signals is a central task in many engineering areas. Levant's exact and robust differentiator is unique in the sense that it provides in finite-time the exact values of the derivatives of a signal with its n-th derivative bounded. We propose here an alternative realization of this differentiator, by interconnecting low-order homogeneous differentiators that cooperate to supply in finite time and also exactly and robustly all derivatives of the signal. The proposed algorithm has a higher dimension than the original differentiator, and this extra dynamics seems to act as a noise filter. The result is illustrated by some simulations and the proof uses a novel Lyapunov function. Copyright (C) 2021 The Authors.

关键词： observability and observer design Lyapunov Stability Methods Variable Structure Control and Sliding Mode

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Lyapunov Functions for Continuous and Discontinuous Differentiators

Lyapunov Functions for Continuous and Discontinuous Differen...

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10th IFAC Symposium on Nonlinear Control Systems (NOLCOS)

作者： Cruz-Zavala, Emmanuel Moreno, Jaime A. Univ Guadalajara Ctr Univ Ciencias Exactas & Ingn Dept Ciencias Comp Guadalajara Jalisco Mexico Univ Nacl Autonoma Mexico Elect & Comp Inst Ingn Ciudad De Mexico Mexico

Given a (differentiable) signal it is an important task for many applications to estimate on line its derivatives. Some well known algorithms to solve this problem include the (continuous) high-gain observers and (discontinuous) Levants exact differentiators. In this work we present a family of homogeneous differentiators, encompassing these two algorithms, and we propose a unified smooth Lyapunov function, that allows a common framework to study their convergence and performance analysis. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： observability and observer design Lyapunov Stability Methods Variable Structure Control and Sliding Mode

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A Revisit of Marino-Tomei's Result on Output Feedback Control of a Class of Non-Minimum Phase Nonlinear Systems

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IFAC Proceedings Volumes 2013年第23期46卷 277-282页

作者： Wei Lin Wei Wei Xinghua Liu Harbin Institute of Technology Shenzhen Graduate School China Dept. of Electrical Engineering and Computer Science Case Western Reserve University Cleveland Ohio 44106 USA

In this note, global stabilization by output feedback is investigated for a class of non-minimum-phase nonlinear systems previously considered by Marino and Tomei (2005). It is shown that it is possible to construct, via a new design method that involves no filter transformation, a globally stabilizing dynamic output feedback controller of order n , instead of n + 2( ρ — 1), for the non-minimum phase nonlinear system in output feedback form Marino and Tomei (2005), under a slightly general condition (i.e., Assumption 2.2) together with the assumption that the nonlinear system is non-minimum-phase with respect to the original output, but minimum-phase with respect to a virtual linear output. Two examples are given to illustrate the simplicity of the new design approach and its effectiveness.

关键词： Lyapunov Methods Stabilization observability and observer design

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GAS Ocean Current Estimation with Limited Velocity Readings

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IFAC Proceedings Volumes 2012年第5期45卷 337-342页

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Institute for Systems and Robotics / Instituto Superior Técnico Universidade Técnica de Lisboa Av. Rovisco Pais 1049-001 Lisboa Portugal Faculty of Science and Technology University of Macau Taipa Macau

This paper presents a simple setup for ocean current estimation that offers globally asymptotically stable (GAS) error dynamics. In the proposed scenario, the underwater vehicle has only access to limited relative velocity readings, along the longitudinal direction of the vehicle, in addition to position measurements. The observability of the system is analyzed and necessary and sufficient conditions, with physical meaning, are derived, hence useful for motion planning and control. A Kalman filter, with GAS error dynamics, is implemented as a solution to the estimation problem and simulation results are included that illustrate the performance of the proposed solution.

关键词： Ocean current estimation observability and observer design marine systems

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A Sensor-based Long Baseline Position and Velocity Navigation Filter for Underwater Vehicles

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IFAC Proceedings Volumes 2010年第14期43卷 302-307页

作者： Pedro Batista Carlos Silvestre Paulo Oliveira Instituto Superior Técnico/Institute for Systems and Robotics Av. Rovisco Pais 1049-001 Lisboa Portugal

This paper presents a novel Long Baseline (LBL) position and velocity navigation filter for underwater vehicles based directly on the sensor measurements. The solution departs from previous approaches as the range measurements are explicitly embedded in the filter design, therefore avoiding inversion algorithms. Moreover, the nonlinear system dynamics are considered to their full extent and no linearizations are carried out whatsoever. The filter error dynamics are globally asymptotically stable (GAS) and it is shown, under simulation environment, that the filter achieves similar performance to the Extended Kalman Filter (EKF) and outperforms linear position and velocity filters based on algebraic estimates of the position obtained from the range measurements.

关键词： observability and observer design marine systems filter design

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Reduced-order Dynamic observer Error Linearization

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IFAC Proceedings Volumes 2010年第14期43卷 915-920页

作者： Jongwook Yang Juhoon Back Jin H. Seo Hyungbo Shim ASRI School of Electrical Engineering and Computer Science Seoul National University Seoul Korea School of Robotics Kwangwoon University Seoul Korea

For an unforced nonlinear single output system, we propose a new approach to observer error linearization called reduced-order dynamic observer error linearization (RDOEL), which is a modified version of dynamic observer error linearization (DOEL). While RDOEL also has an auxiliary dynamics and a generalized output injection like DOEL, it offers a lower dimensional observer than DOEL, and allows a complete constructive algorithm in contrast to DOEL when the auxiliary dynamics is a chain of integrators. For RDOEL whose auxiliary dynamics is a chain of integrators (RDOELI), we provide a complete constructive algorithm which presents not only a coordinate transformation between the original system and a nonlinear observer canonical form, but also the minimum number of integrators needed to perform RDOELI. Moreover, we show that if the original system is of dimension n , then the minimum number of integrators is less than or equal to n –- 2. In order to describe our algorithm well, we present an example that the auxiliary dynamics is a chain of two integrators.

关键词： observer and Filter design By observer Error Linearization observability and observer design

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