| Title | Velocity and Disturbance Robust Nonlinear Estimator for Autonomous Surface Vehicles Equipped With Position Sensors |
|---|---|
| Authors | BEJARANO PELLICER, GUILLERMO, N-YO, SUFIYAN, ORIHUELA ESPINA, DIEGO LUIS |
| External publication | No |
| Means | IEEE Trans Control Syst Technol |
| Scope | Article |
| Nature | Científica |
| JCR Quartile | 2 |
| SJR Quartile | 1 |
| JCR Impact | 4.8 |
| SJR Impact | 1.985 |
| Web | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85122334513&doi=10.1109%2fTCST.2021.3136334&partnerID=40&md5=ff1bb570478202f5cc3c8f669e1901bb |
| Publication date | 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. |
| Keywords | Observers; Estimation; Position measurement; Noise measurement; Hydrodynamics; Estimation error; Vehicle dynamics; Autonomous surface vehicles (ASVs); disturbance estimation; marine systems; noise sensitivity; velocity estimation |
| Universidad Loyola members |