Título Velocity and Disturbance Robust Nonlinear Estimator for Autonomous Surface Vehicles Equipped With Position Sensors
Publicación externa No
Medio IEEE Trans Control Syst Technol
Alcance Article
Naturaleza Científica
Cuartil JCR 1
Cuartil SJR 1
Web https://www.scopus.com/inward/record.uri?eid=2-s2.0-85122334513&doi=10.1109%2fTCST.2021.3136334&partnerID=40&md5=ff1bb570478202f5cc3c8f669e1901bb
Fecha de publicacion 01/09/2022
ISI 000842062600035
Scopus Id 2-s2.0-85122334513
DOI 10.1109/TCST.2021.3136334
Abstract This brief presents a robust nonlinear state estimator for autonomous surface vehicles, where the movement is restricted to the horizontal plane. It is assumed that only the vehicle position and orientation can be measured, being the former affected by bounded noises. Then, under some fair standard assumptions concerning the maximum velocities and acceleration rates of the vehicle, the estimator is able to reconstruct not only the velocities but also the lumped generalized disturbances that cluster external disturbances, nonlinearities, and unmodeled dynamics. The observer is easily tunable by the user, with a set of four scalars, two of them related to the velocity of convergence of the estimator, and other two parameters to set the desired tradeoff between noise sensitivity and disturbance rejection. Several simulations with a well-known test-bed craft are provided to show how the proposed algorithm outperforms previous ones in the literature under realistic environmental conditions.
Palabras clave Observers; Estimation; Position measurement; Noise measurement; Hydrodynamics; Estimation error; Vehicle dynamics; Autonomous surface vehicles (ASVs); disturbance estimation; marine systems; noise sen
Miembros de la Universidad Loyola

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