Control of autonomous underactuated surface vehicle in the presence of environmental disturbances

Mateusz Przybyła; Krzysztof Łakomy; Przemysław Herman

doi:10.1109/MED.2013.6608930

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Title

Control of autonomous underactuated surface vehicle in the presence of environmental disturbances

Authors

Mateusz Przybyła (WI) ^{[ 1 ][ D ]}
Krzysztof Łakomy (WI) ^{[ 1 ][ S ]}
Przemysław Herman (WI) ^{[ 2 ][ P ]}

^{[ 1 ]} Wydział Informatyki, Politechnika Poznańska | ^{[ 2 ]} Katedra Sterowania i Inżynierii Systemów, Wydział Informatyki, Politechnika Poznańska | ^{[ D ]} phd student | ^{[ S ]} student | ^{[ P ]} employee

Year of publication

2013

Chapter type

paper

Publication language

english

Abstract

EN 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.

Pages (from - to)

1563 - 1568

DOI

10.1109/MED.2013.6608930

URL

https://ieeexplore.ieee.org/document/6608930

Book

2013 21st Mediterranean Conference on Control & Automation (MED) : Conference Proceedings

Presented on

2013 21st Mediterranean Conference on Control & Automation (MED), 25-28.06.2013, Platanias-Chania, Greece

Publication indexed in

WoS (15)

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