Sliding-mode speed controller for tracking of underactuated surface vessels with extended Kalman filter
Küçük Resim Yok
Tarih
2015
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Inst Engineering Technology-Iet
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
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.
Açıklama
Anahtar Kelimeler
low-power electronics, high-speed integrated circuits, flip-flops, circuit simulation, logic gates, logic design, power efficiency, power-delay product, HSPICE simulation, TSPC D flip-flops, low-power high-speed dual modulus prescalers, branch-merged true single-phase clocked scheme
Kaynak
Electronics Letters
WoS Q Değeri
Q3
Scopus Q Değeri
Q3
Cilt
51
Sayı
6
