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Experimental Validation of a Partially Decoupled Extended Observer for Set-Membership State Estimation on an Autonomous Surface Vehicle

dc.rights.licenseopenen_US
dc.contributor.authorMOREL, Thalia
dc.contributor.authorGANTIVA-OSORIO, Manuel
dc.contributor.authorBEJARANO, Guillermo
dc.contributor.authorMILLÁN, Pablo
dc.contributor.authorORIHUELA, Luis
hal.structure.identifierLaboratoire de l'intégration, du matériau au système [IMS]
dc.contributor.authorCOMBASTEL, Christophe
IDREF: 154886122
dc.date.accessioned2025-12-15T11:06:30Z
dc.date.available2025-12-15T11:06:30Z
dc.date.issued2025-02-24
dc.date.conference2025-02-24
dc.identifier.urihttps://oskar-bordeaux.fr/handle/20.500.12278/207967
dc.description.abstractEnThis 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.
dc.language.isoENen_US
dc.title.enExperimental Validation of a Partially Decoupled Extended Observer for Set-Membership State Estimation on an Autonomous Surface Vehicle
dc.typeCommunication dans un congrèsen_US
dc.identifier.doi10.1109/icmre64970.2025.10976310en_US
dc.subject.halSciences de l'ingénieur [physics]en_US
bordeaux.page169-174en_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.title2025 11th International Conference on Mechatronics and Robotics Engineering (ICMRE)en_US
bordeaux.countryfren_US
bordeaux.teamAUTOMATIC CONTROLen_US
bordeaux.conference.cityLilleen_US
bordeaux.import.sourcecrossref
hal.proceedingsouien_US
hal.conference.end2025-02-26
hal.popularnonen_US
hal.audienceInternationaleen_US
hal.exporttrue
workflow.import.sourcecrossref
dc.rights.ccPas de Licence CCen_US
bordeaux.COinSctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rft.date=2025-02-24&rft.spage=169-174&rft.epage=169-174&rft.au=MOREL,%20Thalia&GANTIVA-OSORIO,%20Manuel&BEJARANO,%20Guillermo&MILL%C3%81N,%20Pablo&ORIHUELA,%20Luis&rft.genre=unknown


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