Target tracking using artificial potentials and sliding mode control


GAZİ V. , Ordonez R.

INTERNATIONAL JOURNAL OF CONTROL, cilt.80, sa.10, ss.1626-1635, 2007 (SCI İndekslerine Giren Dergi) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 80 Konu: 10
  • Basım Tarihi: 2007
  • Doi Numarası: 10.1080/00207170701455307
  • Dergi Adı: INTERNATIONAL JOURNAL OF CONTROL
  • Sayfa Sayıları: ss.1626-1635

Özet

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.