Target tracking using artificial potentials and sliding mode control

2004 ◽  
Author(s):  
V. Gazi ◽  
R. Ordonez
Keyword(s):  
Sliding Mode Control ◽  
Target Tracking ◽  
Sliding Mode ◽  
Mode Control

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

2012 ◽  
Vol 134 (6) ◽  
Author(s):  
Veysel Gazi ◽  
Barış Fidan ◽  
Raúl Ordóñez ◽  
M. İlter Köksal
Keyword(s):  
Sliding Mode Control ◽  
Target Tracking ◽  
Continuous Time ◽  
Sliding Mode ◽  
Control Techniques ◽  
Maneuvering Target ◽  
Mode Control ◽  
Time Control ◽  
Control Scheme ◽  
Simulation Results

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.

Response Variance Reduction of a Nonlinear Mechanical System via Sliding Mode Control

1998 ◽  
Vol 120 (3) ◽  
pp. 801-805 ◽  
Author(s):  
J. Q. Sun ◽  
Qing Xu
Keyword(s):  
Sliding Mode Control ◽  
Target Tracking ◽  
Mechanical System ◽  
Variance Reduction ◽  
Sliding Mode ◽  
The State ◽  
State Variables ◽  
Mode Control ◽  
Response Variance ◽  
Special Cases

An analysis of a target tracking mechanical system subject to random base excitations is presented in this paper. Sliding mode controls are proposed to minimize the random error of target tracking. Two special cases are studied. In the first case, it is assumed that all the system parameters are known and the state variables are measurable. A sliding mode control is then determined. This highly idealized example reveals the effect of sliding mode control parameters on the reduction of response variance and provides a benchmark for designing a robust controller that deals with systems with unknown parameters. The second case deals with a robust sliding mode control where some parameters of the system are assumed to fall in a known range of values. The proposed controls are proven stable in the mean square sense. The statistical aspects of the controlled system are studied by considering the first and second order moments of the state variables. The equations for these moments are derived and solved by using the method of Gaussian closure in order to investigate the variance reduction performance of the controls.

Composite learning adaptive sliding mode control for AUV target tracking

2019 ◽  
Vol 351 ◽  
pp. 180-186 ◽  
Author(s):  
Yuyan Guo ◽  
Hongde Qin ◽  
Bin Xu ◽  
Yi Han ◽  
Quan-Yong Fan ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Target Tracking ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control

scholarly journals Adaptive sliding mode control for disturbed multirobot systems performing target tracking under continuously time-varying topologies

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092101
Author(s):  
Lijing Dong ◽  
Chongchong Han ◽  
Shengli Du
Keyword(s):  
Sliding Mode Control ◽  
Target Tracking ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Multirobot Systems ◽  
Time Varying ◽  
Laplacian Matrices ◽  
Adaptive Sliding Mode ◽  
Multirobot System ◽  
Mode Control

This article studies coordination control of the multirobot system for target tracking problem with disturbances in time-varying communication environment. An adaptive sliding mode control is designed to complete the target tracking task with the effect of disturbances and continuously time-varying topologies. This means that the communication between the robots is not switching among constant topologies but changes continuously along with time. The continuously time-varying topology is constructed by a set of fixed Laplacian matrices and variable scheduling functions, which is known as polytopic model structure. The designed adaptive sliding mode control can effectively lower the influence of disturbance and improve tracking performance even under the continuously time-varying topology. Furthermore, numerical simulations are given to demonstrate the effectiveness of the obtained results.

Combined Sliding Mode Control with a Feedback Linearization for Speed Control of Induction Motor

2011 ◽  
Vol 7 (1) ◽  
pp. 19-24
Author(s):  
Aamir Hashim Obeid Ahmed ◽  
Martino O. Ajangnay ◽  
Shamboul A. Mohamed ◽  
Matthew W. Dunnigan
Keyword(s):  
Sliding Mode Control ◽  
Induction Motor ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Speed Control ◽  
Mode Control
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