MOREL OTAZU, THALIA ALICIA, BEJARANO PELLICER, GUILLERMO, MANZANO CRESPO, JOSÉ MARÍA, ORIHUELA ESPINA, DIEGO LUIS

No

IEEE Conf. Control Technol. Appl., CCTA

Conference Paper

Científica

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https://www.scopus.com/inward/record.uri?eid=2-s2.0-85144598383&doi=10.1109%2fCCTA49430.2022.9966024&partnerID=40&md5=6d311ae0bfdc1abe6f6e4da3253bf27d

01/01/2022

001345025100053

2-s2.0-85144598383

10.1109/CCTA49430.2022.9966024

This paper describes the application and experimental validation of two different extended state observers for autonomous surface vehicles. Only the vessel position and orientation are assumed to be measured, being both estimators able to recover, not only the velocities, but also the so-called lumped generalised disturbance, which groups both environmental disturbances and nonlinear/unmodelled vessel dynamics. The experimental platform and the open-loop experiments performed to assess and validate the performance of both estimators are described. The experimental results confirm the prospects given by their previously published simulation results, though some room for improvement is detected in the estimation of the state dynamics. © 2022 IEEE.

Autonomous vehicles; Unmanned surface vehicles; Autonomous surface vehicles; Environmental disturbances; Experimental platform; Experimental validations; Extended state observer; Nonlinear state; Open-loop; Position and orientations; Position sensors; States observer; State estimation

• GUILLERMO BEJARANO PELLICER
• JOSÉ MARÍA MANZANO CRESPO
• THALIA ALICIA MOREL OTAZU