Tracking a maneuvering target with a non-holonomic agent using artificial potentials and sliding mode control

Köksal M. I., Gazi V., Bariş F., Ordóñez R.

2008 Mediterranean Conference on Control and Automation, MED'08, Ajaccio-Corsica, France, 25 - 27 June 2008, pp.1174-1179, (Full Text)

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/med.2008.4602188
  • City: Ajaccio-Corsica
  • Country: France
  • Page Numbers: pp.1174-1179
  • Yıldız Technical University Affiliated: Yes

Abstract

In this article we consider tracking a maneuvering target with a non-holonomic agent. The target and the agent move in 2-dimensional space. The task is to capture/intercept the moving target using a continuous time control scheme based on artificial potentials and the sliding mode control technique. The effectiveness of the proposed control scheme is established analytically and demonstrated via a set of simulation results. © 2008 IEEE.