Title :
Control of autonomous underactuated surface vehicle in the presence of environmental disturbances
Author :
Przybyla, Mateusz ; Lakomy, Krzysztof ; Herman, Przemyslaw
Author_Institution :
Fac. of Comput., Poznan Univ. of Technol., Poznan, Poland
Abstract :
This paper presents an output feedback design for a class of underactuated surface vehicles. Besides a standard controller, based on VFO (Vector Field Orientation) method, it consists of ESO (Extended State Observer) which estimates disturbances affecting the system and a partial dynamics decoupling. The estimates are used in a control loop to prevent the impact of environmental forces. The effectiveness of this method is verified with simulation tests.
Keywords :
feedback; marine vehicles; observers; remotely operated vehicles; ESO; VFO method; autonomous underactuated surface vehicle control; environmental disturbances; environmental forces; extended state observer; output feedback design; partial dynamics decoupling; vector field orientation method; Force; Friction; Mobile robots; Observers; Surges; Trajectory; Vehicles;
Conference_Titel :
Control & Automation (MED), 2013 21st Mediterranean Conference on
Conference_Location :
Chania
Print_ISBN :
978-1-4799-0995-7
DOI :
10.1109/MED.2013.6608930
