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.
A Target Tracking Approach for Nonholonomic Agents Based on Artificial Potentials and Sliding Mode Control
Contributed by the Dynamic Systems Division of ASME for publication in the Journalof Dynamic Systems, Measurement, and Control. Manuscript received June 10, 2010; final manuscript received March 8, 2012; published online September 13, 2012. Assoc. Editor: Nader Jalili.
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Gazi, V., Fidan, B., Ordóñez, R., and İlter Köksal, M. (September 13, 2012). "A Target Tracking Approach for Nonholonomic Agents Based on Artificial Potentials and Sliding Mode Control." ASME. J. Dyn. Sys., Meas., Control. November 2012; 134(6): 061004. https://doi.org/10.1115/1.4006622
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