Sliding-mode speed controller for tracking of underactuated surface vessels with extended Kalman filter

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 fi...

Full description

Journal Title: Electronics Letters Vol. 51; no. 6; pp. 467 - 469
Authors: T. Temel, H. Ashrafiuon
Format: Article
Language: English
Published: 03/19/2015