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dc.contributor.authorTorben, Tobias Valentin Rye
dc.contributor.authorTeel, Andrew R.
dc.contributor.authorKjerstad, Øivind Kåre
dc.contributor.authorWittemann, Emilie H. T.
dc.contributor.authorSkjetne, Roger
dc.date.accessioned2024-09-10T10:59:59Z
dc.date.available2024-09-10T10:59:59Z
dc.date.created2024-05-16T12:45:03Z
dc.date.issued2024
dc.identifier.citationIEEE Transactions on Control Systems Technology. 2024, 32 (3), 1048-1056.en_US
dc.identifier.issn1063-6536
dc.identifier.urihttps://hdl.handle.net/11250/3151106
dc.description.abstractThis brief presents a resetting observer for linear time-varying (LTV) systems. The motivation for the observer is better handling of unmodeled dynamics and reactiveness to external disturbances without compromising steady-state performance. A reset is triggered if the output estimation error exceeds predefined bounds. The proposed observer uses a finite-time observer (FTO) approach to calculate corrected state estimates after a reset is triggered. The FTO equations are derived for LTV systems, and a method for calculating the state transition matrices online is presented. The observer equations are formulated in a hybrid dynamical systems framework, and sufficient conditions for uniform global preexponential stability are given. The method is applied to observer design for dynamic positioning (DP) of marine surface vessels. Numerical simulations as well as model scale experiments of this application show promising results, with improved transient performance compared to state-of-the-art observers.en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.relation.urihttps://ieeexplore.ieee.org/document/10324499
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.subjectMarin kybernetikken_US
dc.subjectMarine cyberneticsen_US
dc.subjectDynamisk Posisjoneringen_US
dc.subjectDynamic Positioningen_US
dc.titleA Resetting Observer for Linear Time-Varying Systems with Application to Dynamic Positioning of Marine Surface Vesselsen_US
dc.title.alternativeA Resetting Observer for Linear Time-Varying Systems with Application to Dynamic Positioning of Marine Surface Vesselsen_US
dc.typeJournal articleen_US
dc.typePeer revieweden_US
dc.description.versionpublishedVersionen_US
dc.subject.nsiVDP::Skipsteknologi: 582en_US
dc.subject.nsiVDP::Ship technology: 582en_US
dc.source.pagenumber1048-1056en_US
dc.source.volume32en_US
dc.source.journalIEEE Transactions on Control Systems Technologyen_US
dc.source.issue3en_US
dc.identifier.doi10.1109/TCST.2023.3331338
dc.identifier.cristin2269142
dc.relation.projectNorges forskningsråd: 280655en_US
dc.relation.projectNorges forskningsråd: 223254en_US
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode2


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Navngivelse 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Navngivelse 4.0 Internasjonal