A Target Tracking Approach for Nonholonomic Agents Based on Artificial Potentials and Sliding Mode Control
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, cilt.134, sa.6, 2012 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 134 Sayı: 6
- Basım Tarihi: 2012
- Doi Numarası: 10.1115/1.4006622
- Dergi Adı: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Yıldız Teknik Üniversitesi Adresli: Hayır
Özet
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]