A Target Tracking Approach for Nonholonomic Agents Based on Artificial Potentials and Sliding Mode Control
Veysel Gazi, Barış Fi̇dan, Raúl Ordóñez, M. İlter Köksal · Journal of Dynamic Systems Measurement and Control · 2012
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.