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Set-membership state estimation of autonomous surface vehicles with a partially decoupled extended observer

dc.rights.licenseopenen_US
dc.contributor.authorORIHUELA, Luis
hal.structure.identifierLaboratoire de l'intégration, du matériau au système [IMS]
dc.contributor.authorCOMBASTEL, Christophe
IDREF: 154886122
dc.contributor.authorBEJARANO, Guillermo
dc.date.accessioned2023-05-25T12:23:45Z
dc.date.available2023-05-25T12:23:45Z
dc.date.issued2022-08-05
dc.date.conference2022-07-12
dc.identifier.issn2473-2001en_US
dc.identifier.urihttps://oskar-bordeaux.fr/handle/20.500.12278/182337
dc.description.abstractEnThis work presents a set-membership state estimator for autonomous surface vehicles, based on an augmented state including lumped disturbances. The position and orientation are assumed to be measured subject to bounded noises. A novel dynamical decomposition decouples the estimation problem into two simpler subproblems, for the rotational and positional dynamics. Then, under physically motivated assumptions about the vessel maximum velocities and acceleration rates, the estimator computes sets enclosing the positions, velocities, and lumped generalised disturbances gathering several kinds of modelling uncertainties. The sets are described by zonotopes. A set-based estimation of the lumped generalised disturbances paves the way toward an enhanced motion control scheme, where low-level controllers could compensate them, depending on the estimation accuracy. Several simulations with a well-known test-bed craft compare the performance of the proposed algorithm with a previous one from the literature under realistic environmental conditions.
dc.language.isoENen_US
dc.subjectUncertainty
dc.subjectComputational modeling
dc.subjectEurope
dc.subjectPosition measurement
dc.subjectObservers
dc.subjectNoise measurement
dc.subjectVehicle dynamics
dc.subjectControl system synthesis
dc.subjectDiscrete time systems
dc.subjectKalman filters
dc.subjectMobile robots
dc.subjectMotion control
dc.subjectObservers
dc.subjectPosition control
dc.subjectState estimation
dc.title.enSet-membership state estimation of autonomous surface vehicles with a partially decoupled extended observer
dc.typeCommunication dans un congrès avec actesen_US
dc.identifier.doi10.23919/ECC55457.2022.9838213en_US
dc.subject.halSciences de l'ingénieur [physics]en_US
bordeaux.page2024-2029en_US
bordeaux.hal.laboratoriesIMS : Laboratoire de l'Intégration du Matériau au Système - UMR 5218en_US
bordeaux.institutionUniversité de Bordeauxen_US
bordeaux.institutionBordeaux INPen_US
bordeaux.institutionCNRSen_US
bordeaux.conference.title2022 European Control Conference (ECC)en_US
bordeaux.countrygben_US
bordeaux.title.proceedingSet-membership state estimation of autonomous surface vehicles with a partially decoupled extended observeren_US
bordeaux.teamAUTOMATIQUE-ARIAen_US
bordeaux.conference.cityLondresen_US
bordeaux.peerReviewedouien_US
hal.identifierhal-04106423
hal.version1
hal.date.transferred2023-05-25T12:23:58Z
hal.exporttrue
dc.rights.ccPas de Licence CCen_US
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