A Target Tracking Approach for Nonholonomic Agents Based on Artificial Potentials and Sliding Mode Control


Gazi V. , Fidan B., Ordonez R., Koksal M. I.

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, vol.134, no.6, 2012 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 134 Issue: 6
  • Publication Date: 2012
  • Doi Number: 10.1115/1.4006622
  • Title of Journal : JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME

Abstract

In this paper, we consider the task of tracking a maneuvering target both with a single nonholonomic agent and a swarm of nonholonomic agents. In order to achieve the tracking task, a decentralized continuous-time control scheme, which combines artificial potentials and sliding mode control techniques, is developed via constructive analysis. The effectiveness of the proposed control scheme is established analytically and demonstrated via a set of simulation results. [DOI: 10.1115/1.4006622]