Tracking a Moving Target by a Fixed-wing UAV Based on Sliding Mode Control

2013 ◽  
Author(s):  
Mingfeng Zhang ◽  
Hugh H. Liu
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Moving Target ◽  
Mode Control

Robust Region-Tracking for Multi-Agent Systems Using Sliding Mode Control

2010 ◽  
Author(s):  
Mark Bacon ◽  
Nejat Olgac
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Autonomous Agent ◽  
Moving Target ◽  
Multi Agent Systems ◽  
Target Region ◽  
Agent Systems ◽  
Mode Control ◽  
Modeling Uncertainties ◽  
Multi Agent

Control of autonomous agent swarms is studied for targeted flocking exercises. The desired decentralized control also requires robustness against modeling uncertainties and bounded unknown forces. In this analysis, we consider the task of robustly driving multiple agents to a moving ‘target region’, as repulsive interactions help spread out the agents. An unconventional form of sliding mode control is implemented to provide the robust attraction towards the region’s center. For robustness a ‘boundary layer’ is conceived, which corresponds to the desired target region. The attraction is intentionally softened inside this target region, allowing agents to create a final formation utilizing their repulsion forces. Examples are given for moving circular and elliptical regions which illustrate the effectiveness of the proposed strategy.

Swarm Tracking Using Artificial Potentials and Sliding Mode Control

2007 ◽  
Vol 129 (5) ◽  
pp. 749-754 ◽  
Author(s):  
Jingyi Yao ◽  
Raúl Ordóñez ◽  
Veysel Gazi
Keyword(s):  
Sliding Mode Control ◽  
Vehicle Dynamics ◽  
Sliding Mode ◽  
Kinematic Model ◽  
Control Technique ◽  
Moving Target ◽  
Mode Control ◽  
Coordination Framework ◽  
Specific Potential ◽  
Simulation Results

In this paper, we present a stable and decentralized control strategy for multiagent systems (swarms) to capture a moving target in a specific formation. The coordination framework uses artificial potentials to take care of both tracking and formation tasks. First, a basic controller is designed based on a kinematic model. After that, sliding mode control technique is used to force the agents with general vehicle dynamics to obey the required motion. Finally, specific potential functions are discussed and corresponding simulation results are given.

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

Adjust Method of Nonlinear Gain in Four-Wheel Steering Control Using Sliding Mode Control

2009 ◽  
Vol 129 (7) ◽  
pp. 1389-1396 ◽  
Author(s):  
Misawa Kasahara ◽  
Yuki Kanai ◽  
Ryoko Shiraki ◽  
Yasuchika Mori
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Steering Control ◽  
Nonlinear Gain ◽  
Mode Control
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