Sliding mode in constrained source tracking with non-holonomic vehicles

Author

Fu, Lina ; Ozguner, Umit

Author_Institution

Dept. of Electr. & Comput. Eng., Ohio State Univ., Columbus, OH

fYear

2008

fDate

8-10 June 2008

Firstpage

30

Lastpage

34

Abstract

This paper presents a source tracking approach for non-holonomic vehicles, where the search area of the vehicles is confined within a pre-defined or detectable boundary. Sliding mode optimization is used in the source seeking scheme. The paper utilizes sliding mode vehicle motion control to address the boundary constraints. Model predictive control is also incorporated, and it greatly reduces the oscillation in vehicle trajectories resulting from vehicle dynamics with finite switching frequency.

Keywords

motion control; predictive control; variable structure systems; vehicles; boundary constraints; constrained source tracking; finite switching frequency; model predictive control; nonholonomic vehicles; sliding mode optimization; sliding mode vehicle motion control; vehicle dynamics; Communication networks; Communication system control; Control systems; Mobile robots; Receiving antennas; Remotely operated vehicles; Sliding mode control; USA Councils; Vehicle detection; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems, 2008. VSS '08. International Workshop on

Conference_Location

Antalya

Print_ISBN

978-1-4244-2199-2

Electronic_ISBN

978-1-4244-2200-5

Type

conf

DOI

10.1109/VSS.2008.4570678

Filename

4570678