Tracking a Maneuvering Target with a Non-holonomic Agent Using Artificial Potentials and Sliding Mode Control

In this article we consider tracking a maneuvering target with a non-holonomic agent. The target and the agent move in 2-dimensional space. The task is to capture/intercept the moving target using a continuous time control scheme based on artificial potentials and the sliding mode control technique. The effectiveness of the proposed control scheme is established analytic-ally and demonstrated via a set of simulation results.
V. Gazi and M. ?I. Koksal were supported in part by TUBITAK (The Scientific and Technological Research Council of Turkey) under grant No.104E170 and by the European Commission under the GUARDIANS project (FP6 contract No. 045269). The work of B. Fidan was supported by National ICT Australia-NICTA, which is funded by the Australian Government as represented by the Department of Broadband, Communications and the Digital Economy and the Australian Research Council through the ICT Centre of Excellence program. R. Ordonez was supported with AFRL/AFOSR grant No. F33615-01-2-3154.
IEEE
TUBITAK (The Scientific and Technological Research Council of Turkey)Turkiye Bilimsel ve Teknolojik Arastirma Kurumu (TUBITAK) [104E170]; European Commission under the GUARDIANS project (FP6 ) [045269]; National ICT Australia-NICTA; Australian GovernmentAustralian GovernmentCGIAR; Australian Research Council through the ICT Centre of Excellence programAustralian Research Council; AFRL/AFOSRUnited States Department of DefenseUS Air Force Research LaboratoryAir Force Office of Scientific Research (AFOSR) [F33615-01-2-3154]