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...
|Journal Title:||Electronics Letters Vol. 51; no. 6; pp. 467 - 469|
|Authors:||T. Temel, H. Ashrafiuon|