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 mostly on a brand new manifold definition. The new sliding-mode control algorithm depends on a typical 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-sort sliding-mode counterpart in terms of performance in tracking the outputs where the estimator is driven by respective control inputs and observed states concerned with arbitrarily correlated method and measurement errors.

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