Implementation and evaluation of state observers and motion controllers in autonomous surface vehicle
This work deals with the implementation and evaluation of two low-level motion controllers and two state observers in the Yellowfish Autonomous Surface Vehicle (ASV) developed at Loyola Andalusia University. The main objective is to assess the real-time performance and robustness of the observers an...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/411432 |
| Acceso en línea: | https://hdl.handle.net/2117/411432 https://dx.doi.org/10.5821/iwp.2024.23.14149 |
| Access Level: | acceso abierto |
| Palabra clave: | Automated vehicles Autonomous surface vehicles Extended state observer (ESO) Marine robotics Robust control Vehicles autònoms Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | This work deals with the implementation and evaluation of two low-level motion controllers and two state observers in the Yellowfish Autonomous Surface Vehicle (ASV) developed at Loyola Andalusia University. The main objective is to assess the real-time performance and robustness of the observers and controllers, intending to integrate them as part of path- following controllers or fleet coordination systems. |
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