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Öğe Sliding-mode control approach for faster tracking(Inst Engineering Technology-Iet, 2012) Temel, Turgay; Ashrafiuon, H.A new sliding-mode control method is presented in which the nominal control is derived from a manifold consisting of the standard sliding manifold expression and its derivative. It is shown that the new method yields a faster reach time. Simulation results also show that it performs with smaller error and less control effort compared to standard counterparts in tracking an autonomous nonlinear affine system.Öğe Sliding-mode speed controller for tracking of underactuated surface vessels with extended Kalman filter(Inst Engineering Technology-Iet, 2015) Temel, Turgay; Ashrafiuon, H.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.
