Sliding mode in constrained source tracking with non-holonomic vehicles

被引：3
|
作者：
Fu, Lina [1 ]
Ozguner, Umit [1 ]
机构：
[1] Ohio State Univ, Dept Elect & Comp Engn, Columbus, OH 43210 USA
来源：
2008 INTERNATIONAL WORKSHOP ON VARIABLE STRUCTURE SYSTEMS | 2008年
关键词：
D O I：
10.1109/VSS.2008.4570678
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：30 / 34
页数：5
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