Browsing by Autor "Thalia Morel"

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Experimental Assessment of a Cascaded Path-Following Controller for ASVs Using Extended State Estimation
(Institute of Electrical and Electronics Engineers, 2026) Manuel Gantiva-Osorio; Guillermo Llanos Bejarano; Thalia Morel; Luís Orihuela; Pablo Millán
This work presents a cascaded control strategy for underactuated autonomous surface vehicles, integrating an extended state estimator within a path-following controller. Although path-following control has been extensively addressed in the literature, its experimental implementation continues to face significant challenges, particularly in real-world environments characterized by dynamic uncertainties, unmodeled disturbances, and measurement noise. The proposed architecture preserves the classical structure of cascade control, applying a surge-guided line-of-sight-based guidance law at the kinematic layer and a modified robust-adaptive backstepping controller at the dynamic layer. Both controllers take advantage of a nonlinear set-membership extended state observer, reformulated to incorporate a recently identified kinetic model that accounts for uncertainties in both the inertial dynamics and the propulsion system. The main contributions of this work include the reformulation of the observer to incorporate the identified model and the integration of angular velocity measurements, as well as the demonstration of the input-to-state stability of the low-level tracking errors with respect to estimation errors. Another significant contribution is the experimental validation of the complete strategy on a catamaran-type autonomous surface vehicle, operating under real-world conditions with unmeasured disturbances. The experimental results demonstrate robust and accurate performance in both estimation and control across various circuit exercises.
Experimental validation of robust non-linear state observers for autonomous surface vehicles equipped with position sensors
(2022) Thalia Morel; Guillermo Bejarano; José María Manzano; Luís Orihuela
This paper describes the application and experimental validation of two different extended state observers for autonomous surface vehicles. Only the vessel position and orientation are assumed to be measured, being both estimators able to recover, not only the velocities, but also the so-called lumped generalised disturbance, which groups both environmental disturbances and nonlinear/unmodelled vessel dynamics. The experimental platform and the open-loop experiments performed to assess and validate the performance of both estimators are described. The experimental results confirm the prospects given by their previously published simulation results, though some room for improvement is detected in the estimation of the state dynamics.
From Concept to Control: Development of an Advanced ASV Platform for Testing
(2026) Manuel Gantiva; Thalia Morel; Guillermo Llanos Bejarano; Pablo Millán; Federico Peralta