Target tracking using adaptive gain backstepping control


Fidan B., Gazi V.

10th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing, ALCOSP 2010, Antalya, Turkey, 26 - 28 August 2010, vol.1, pp.83-88 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 1
  • Doi Number: 10.3182/20100826-3-tr-4015.00018
  • City: Antalya
  • Country: Turkey
  • Page Numbers: pp.83-88
  • Keywords: Adaptive control, Backstepping, Gain scheduling, Motion control, Target tracking

Abstract

A particular recent series of research studies on the problem of tracking/pursuiting moving targets has followed an approach based on artificial potentials and sliding mode control. In this paper we revisit this approach, and in an effort to suppress some input applicability issues in terms of high amplitude and chattering, we develop a backstepping control scheme in place of the sliding mode controller. After designing the base constant gain backstepping controller we develop an adaptive gain version of this backstepping control scheme. We provide simulation results for performance demonstration and comparison. © 2010 IFAC.