LABUST has taken part in many scientific research projects relating to underwater systems and technologies in various roles. This includes numerous international (FP7, H2020, ONRG, INTERREG,...) as well as national projects.
Laboratory for Underwater Systems and Technologies (LABUST), CoE MARBLE, and IEEE OES University of Zagreb Student Branch Chapter invite you to a talk "Sliding mode observers for the acoustically-aided inertial navigation of underwater vehicles" held by Prof. Karl von Ellenrieder, Professor of Automation with the Faculty of Engineering, at the Libera Università di Bolzano (Italy), as part of the MARBLE project.
The lecture will take place on Monday, December 8th, 2025 at 10:00 a.m. in the Grey Hall (UNIZG-FER). The lecture will be held in person in English language and is estimated to last 60 minutes, including questions.
A short biography of the lecturer and summary of the lecture can be found below.
Abstract:
Higher order sliding mode (HOSM) control has been extensively used to robustly control marine systems because of their nonlinear dynamics. Similar principles can be employed to differentiate sensor measurements and to estimate the state of a nonlinear system, but HOSM has been rarely used for state estimation in robotics. Here we present an HOSM observer that estimates the pose and attitude of an underwater vehicle in acoustically-aided INS navigation, employing the Bearing, Elevation and Depth Difference Technique. The performance of the HOSM observer is compared with that of an Extended Kalman Filter (EKF) estimator in both simulation and field experiments. It is found that the HOSM observer is able to better estimate the heading of the underwater vehicle, but does not estimate its position as well as the EKF.
Biography:
Karl von Ellenrieder received the B.S. degree in aeronautics and astronautics from the Massachusetts Institute of Technology, Cambridge, MA, USA, in 1990 and the M.S. and Ph.D. degrees in aeronautics and astronautics from Stanford University, Stanford, CA, USA, in 1992 and 1998, respectively. From 1998-2002 he was a Research Fellow at Monash University in Melbourne, VIC Australia and from 2003-2016 he was a Professor of Ocean Engineering at Florida Atlantic University, Boca Raton, FL, USA. Since 2016 he has been a Professor of Automation with the Faculty of Engineering, at the Libera Università di Bolzano, BZ, Italy. His research interests include topics related to the control of uncrewed vehicle systems. Prof. von Ellenrieder is a member of the IEEE Oceanic Engineering Society and the IEEE Control Systems Society. He is currently the Editor in Chief of the IEEE Journal of Oceanic Engineering.