| Title | Experimental evaluation of backstepping speed control for an autonomous marine vehicle with set-membership extended state observer |
|---|---|
| Authors | GANTIVA OSORIO, MANUEL EDUARDO, MOREL OTAZU, THALIA ALICIA, ORIHUELA ESPINA, DIEGO LUIS, BEJARANO PELLICER, GUILLERMO, MILLÁN GATA, PABLO, IEEE |
| External publication | No |
| Means | 2025 11th International Conference On Mechatronics And Robotics Engineering, Icmre |
| Scope | Proceedings Paper |
| Nature | Científica |
| Publication date | 01/01/2025 |
| ISI | 001488222700060 |
| DOI | 10.1109/ICMRE64970.2025.10976297 |
| Abstract | This article presents the implementation and validation of a speed control strategy for an underactuated autonomous surface vehicle (ASV), based on a combination of a set-membership extended state observer (ESO) and a backstepping-based control law. The estimation process relies solely on position and orientation measurements with bounded noise. A theoretical adjustment is performed to adapt the control strategy to the experimentally identified model of the vessel, introducing an inverse identification that simplifies speed control, thereby reducing computational load. Experimental results confirm the stability and robustness of the control strategy under varying reference conditions, while also validating the efficacy of the inverse model and estimator, which are specifically designed for real-world environments. |
| Keywords | underactuated autonomous surface vehicle; speed control; disturbance and velocity estimation |
| Universidad Loyola members |