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

Gazi, Veysel; Fidan, Baris; Ordonez, Raul; Koksal, M.

doi:10.1115/1.4006622

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

Atıf İçin Kopyala

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

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, cilt.134, sa.6, 2012 (SCI-Expanded)

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]