MOREL OTAZU, THALIA ALICIA, GANTIVA OSORIO, MANUEL EDUARDO, BEJARANO PELLICER, GUILLERMO, Millan, Pablo , ORIHUELA ESPINA, DIEGO LUIS, Combastel, Christophe , IEEE
No
2025 11th International Conference On Mechatronics And Robotics Engineering, Icmre
Proceedings Paper
Científica
01/01/2025
001488222700029
This paper presents the experimental validation of a set-membership state estimator applied to the Yellowfish Autonomous Surface Vehicle (ASV) developed at Universidad Loyola Andalucia. The proposed method estimates system states and generalised disturbances based on position and heading data obtained from the Global Navigation Satellite System (GNSS) and the Attitude and Heading Reference System (AHRS), with the estimated yaw rate verified through gyroscope data. This work highlights the importance of model identification and experimental validation when implementing extended state observers (ESOs), particularly in accounting for disturbances, which are crucial for precise motion control of ASVs. Unlike previous studies that model vessels with a priori known parameters (as obtained from physics, datasheets, etc.), a non-trivial grey-box identification of the so-called input gain is used in this work to model the Yellowfish ASV. This approach accounts for the true propeller nonlinear characteristics while compensating for the unknown inertia matrix. The experimental results confirm the performance of the observer through error metrics, serving as a comparison with other ESOs.
Autonomous surface vehicles; marine systems; velocity estimation; disturbance estimation; experimental validation