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Research Papers

A Target Tracking Approach for Nonholonomic Agents Based on Artificial Potentials and Sliding Mode Control

[+] Author and Article Information
Veysel Gazi

 Department of Electrical and Electronics Engineering,Istanbul Kemerburgaz University, Mahmutbey Dilmenler Caddesi No. 26, 34217 Bağcılar, Istanbul, Turkeyveysel.gazi@kemerburgaz.edu.tr

Barış Fidan

 Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, N2L 3G1, Canadafidan@uwaterloo.ca

Raúl Ordóñez

 Department of Electrical and Computer Engineering, University of Dayton, 300 College Park, Dayton, OH 45469-0232ordonez@ieee.org

M. İlter Köksal

 General Electric Clinical Systems, Ivoksan Arı Sitesi, 1.etap 635. Sokak No. 52, 06370 Yenimahalle, Ankara, Turkey

J. Dyn. Sys., Meas., Control 134(6), 061004 (Sep 13, 2012) (13 pages) doi:10.1115/1.4006622 History: Received June 10, 2010; Revised March 08, 2012; Published September 13, 2012; Online September 13, 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.

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References

Figures

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Figure 1

Illustration of an agent with nonholonomic unicycle dynamics 2

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Figure 4

Paths of agent A and target T(pT(0)=[3,3]⊤)

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Figure 5

Distance between target T and agent A

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Figure 6

Control inputs of the agent

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Figure 7

Desired formation

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Figure 8

Paths of agents and target (pT(0)=[3,3]⊤)

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Figure 9

Difference between interagent distances and desired distances

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Figure 10

Control inputs of one of the agents

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Figure 2

Function h(.) with ɛ¯=1

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