A target tracking approach for nonholonomic agents based on artificial potentials and sliding mode control

Gazi, VeyselFidan, BarışOrdonez, RaulKoksal, M. İlter2021-05-152021-05-1520120022-04341528-9028https://doi.org/10.1115/1.4006622https://hdl.handle.net/20.500.12939/745Gazi, Veysel/0000-0002-4383-9215In 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]eninfo:eu-repo/semantics/closedAccessDesignSimulation ResultsSliding Mode ControlBoundary LayersControl EquipmentSimulationA target tracking approach for nonholonomic agents based on artificial potentials and sliding mode controlArticle10.1115/1.400662213462-s2.0-84867789852Q2WOS:000314764300004Q3