Target tracking using artificial potentials and sliding mode control


Gazi V. , Ordóñez R.

Proceedings of the 2004 American Control Conference (AAC), Boston, MA, United States Of America, 30 June - 02 July 2004, vol.6, pp.5588-5593 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 6
  • Doi Number: 10.1109/acc.2004.249030
  • City: Boston, MA
  • Country: United States Of America
  • Page Numbers: pp.5588-5593

Abstract

In this article we develop an algorithm for capturing/intercepting a moving target based on the sliding mode control method. First, we consider a "kinematic" model (in a sense) for the capture/intercept problem and develop a method for that case. Then, we build on the developed method to include general fully actuated vehicle dynamics for the pursuer agent. The algorithm is robust with respect to the system uncertainties and additive disturbances. Finally, we also provide a numerical simulation in order to illustrate the procedure.