Target tracking using artificial potentials and sliding mode control


Gazi V., Ordonez R.

INTERNATIONAL JOURNAL OF CONTROL, vol.80, no.10, pp.1626-1635, 2007 (Peer-Reviewed Journal) identifier

  • Publication Type: Article / Article
  • Volume: 80 Issue: 10
  • Publication Date: 2007
  • Doi Number: 10.1080/00207170701455307
  • Journal Name: INTERNATIONAL JOURNAL OF CONTROL
  • Journal Indexes: Science Citation Index Expanded, Scopus
  • Page Numbers: pp.1626-1635

Abstract

In this article we develop an algorithm for capturing/intercepting a moving target based on the sliding mode control method. First, we consider a "kinematic'' model (in a sense) for the capture/intercept problem and develop a method for that case. Then, we build on the developed method to include general fully actuated vehicle dynamics for the pursuer agent. The algorithm is robust with respect to the system uncertainties and additive disturbances. Finally, we also provide a numerical simulation in order to illustrate the procedure.