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 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.