Open AccessSliding‐mode speed controller for tracking of underactuated surface vessels with extended Kalman filter
Author(s) -
Temel T.,
Ashrafiuon H.
Publication year - 2015
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2014.4516
Subject(s) - underactuation , kalman filter , control theory (sociology) , tracking (education) , mode (computer interface) , controller (irrigation) , surface (topology) , computer science , mathematics , artificial intelligence , control (management) , psychology , pedagogy , agronomy , biology , operating system , geometry
A sliding‐mode speed controller for output tracking of underactuated surface vessels is presented based on a new manifold definition. The new sliding‐mode control algorithm relies on a conventional sliding manifold and its time derivative. The states/outputs are estimated with the extended Kalman filter as an observer. The new controller is compared with its integral‐type sliding‐mode counterpart in terms of performance in tracking the outputs where the estimator is driven by respective control inputs and observed states involved with arbitrarily correlated process and measurement errors.