Extended State Observer Based Parameter Identification of the Hovercraft System

Patelski, Radosław; Pazderski, Dariusz

doi:10.1109/mmar55195.2022.9874346

Cited by 3 publications

(2 citation statements)

References 14 publications

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“…Although these are difficult to determine for a real vehicle, there are methods by which such information can be obtained. For example, one can use the parameter identification methods described in [22,30] for a hovercraft (a more detailed description of the general method is also known from [31]).…”

Section: Hovercraft Modelmentioning

confidence: 99%

Controller for an Asymmetric Underactuated Hovercraft in Terms of Quasi-Velocities

Herman

2023

Applied Sciences

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In this paper, a nonlinear controller for tracking a desired trajectory for an underactuated hovercraft is considered. It is a modification of a method known from the literature. However, the control algorithm considered here has two important features that differ from the mentioned control strategy. First, it concerns the case when the center of mass does not coincide with the geometric center, which results in additional forces and moments of force. The lack of symmetry causes the original trajectory tracking method not to take this fact into account, while the proposed approach is a generalization of the known concept. Here, a diagonalization of the inertia matrix has been applied, by means of a velocity transformation, which made it possible to reduce the symmetric matrix to a diagonal form. Secondly, the transformed quasi-velocity equations of motion allow some insight into the dynamics of the vehicle as it moves, which was not shown in the source work. The offered approach was verified by numerical tests for a hovercraft model with three DOF and for two desired trajectories. The method can be useful in preliminary simulation studies at the controller selection stage without experimental validation.

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Section: Hovercraft Modelmentioning

confidence: 99%

Controller for an Asymmetric Underactuated Hovercraft in Terms of Quasi-Velocities

Herman

2023

Applied Sciences

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“…Some experimental verification of the proposed algorithm has recently been presented in [68], where it was applied to identify a set of dynamic parameters of an underacturated hovercraft vehicle. To further evaluate the performance of the considered identification scheme, a new experimental trial is conducted here using a planar robotic manipulator with a single degree of freedom (PME1R).…”

Section: Experimental Validationmentioning

confidence: 99%

Novel Adaptive Extended State Observer for Dynamic Parameter Identification with Asymptotic Convergence

Patelski

Pazderski

2022

Energies

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In this paper, a novel method of parameter identification of linear in parameter dynamic systems is presented. The proposed scheme employs an Extended State Observer to online estimate a state of the plant and momentary value of total disturbance present in the system. A notion is made that for properly redefined dynamics of the system, this estimate can be interpreted as a measure of modeling error caused by the parameter uncertainty. Under this notion, a disturbance estimate is used as a basis for classic gradient identification. A global convergence of both state and parameter estimates to their true values is proved using the Lyapunov approach under an assumption of a persistent excitation. Finally, results of simulation and experiments are presented to support the theoretical analysis. The experiments were conducted using a compliant manipulator joint and obtained results show the usefulness of the proposed method in drive control systems and robotics.

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Parameter Identifying Disturbance Rejection Control With Asymptotic Error Convergence

Patelski,

Pazderski

2024

IEEE Robot. Autom. Lett.

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Extended State Observer Based Parameter Identification of the Hovercraft System

Cited by 3 publications

References 14 publications

Controller for an Asymmetric Underactuated Hovercraft in Terms of Quasi-Velocities

Controller for an Asymmetric Underactuated Hovercraft in Terms of Quasi-Velocities

Novel Adaptive Extended State Observer for Dynamic Parameter Identification with Asymptotic Convergence

Parameter Identifying Disturbance Rejection Control With Asymptotic Error Convergence

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