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

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dc.contributor.authorTemel, Turgay
dc.contributor.authorAshrafiuon, H.
dc.date.accessioned2021-03-20T20:15:12Z
dc.date.available2021-03-20T20:15:12Z
dc.date.issued2015
dc.departmentBTÜ, Mühendislik ve Doğa Bilimleri Fakültesi, Mekatronik Mühendisliği Bölümüen_US
dc.description.abstractA 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.en_US
dc.description.sponsorshipOffice of Naval Research under ONROffice of Naval Research [N00014-09-1-1195]en_US
dc.description.sponsorshipThis work was partially supported by the Office of Naval Research under ONR grant number N00014-09-1-1195.en_US
dc.identifier.doi10.1049/el.2014.4516en_US
dc.identifier.endpage468en_US
dc.identifier.issn0013-5194
dc.identifier.issn1350-911X
dc.identifier.issue6en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage467en_US
dc.identifier.urihttp://doi.org/10.1049/el.2014.4516
dc.identifier.urihttps://hdl.handle.net/20.500.12885/1164
dc.identifier.volume51en_US
dc.identifier.wosWOS:000351271700019en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.institutionauthorTemel, Turgay
dc.language.isoenen_US
dc.publisherInst Engineering Technology-Ieten_US
dc.relation.ispartofElectronics Lettersen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectlow-power electronicsen_US
dc.subjecthigh-speed integrated circuitsen_US
dc.subjectflip-flopsen_US
dc.subjectcircuit simulationen_US
dc.subjectlogic gatesen_US
dc.subjectlogic designen_US
dc.subjectpower efficiencyen_US
dc.subjectpower-delay producten_US
dc.subjectHSPICE simulationen_US
dc.subjectTSPC D flip-flopsen_US
dc.subjectlow-power high-speed dual modulus prescalersen_US
dc.subjectbranch-merged true single-phase clocked schemeen_US
dc.titleSliding-mode speed controller for tracking of underactuated surface vessels with extended Kalman filteren_US
dc.typeArticleen_US

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