Target Tracking Using Artificial Potentials and Sliding Mode Control

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2004

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Ieee

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Abstract

In this article we develop an algorithm for capturing/intercepting a moving target based on the sliding mode control method. First, we consider a "kinematic" model (in a sense) for the capture/intercept problem and develop a method for that case. Then, we build on the developed method to include general fully actuated vehicle dynamics for the pursuer agent. The algorithm is robust with respect to the system uncertainties and additive disturbances. Finally, we also provide a numerical simulation in order to illustrate the procedure.

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Gazi, Veysel/0000-0002-4383-9215

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Q3

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American Control Conference -- JUN 30-JUL 02, 2004 -- Boston, MA

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Start Page

5588

End Page

5593

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