Yayınlanmış 1 Ocak 2012
| Sürüm v1
Dergi makalesi
Açık
A Target Tracking Approach for Nonholonomic Agents Based on Artificial Potentials and Sliding Mode Control
Yazarlar/Oluşturanlar
- 1. Istanbul Kemerburgaz Univ, Dept Elect & Elect Engn, TR-34217 Istanbul, Turkey
- 2. Univ Waterloo, Dept Mech & Mech Engn, Waterloo, ON N2L 3G1, Canada
- 3. Univ Dayton, Dept Elect & Comp Engn, Dayton, OH 45469 USA
- 4. Gen Elect Clin Syst, TR-06370 Ankara, Turkey
Açıklama
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]
Dosyalar
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Dosyalar
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