کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
696933 | 890352 | 2012 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Method for tracking of environmental level sets by a unicycle-like vehicle
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Method for tracking of environmental level sets by a unicycle-like vehicle Method for tracking of environmental level sets by a unicycle-like vehicle](/preview/png/696933.png)
چکیده انگلیسی
We consider a single Dubins-like vehicle traveling with a constant longitudinal speed in a planar region supporting an unknown field distribution. A sensor provides the distribution value at the vehicle location. We present a new sliding mode control method for tracking environmental level sets: the vehicle is steered to the set where the distribution assumes a pre-specified value and circulates along this set afterwards. The proposed control algorithm does not employ gradient estimation and is non-demanding with respect to both computation and motion. Its mathematically rigorous justification is provided. The effectiveness of the proposed guidance law is confirmed by computer simulations.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 48, Issue 9, September 2012, Pages 2252–2261
Journal: Automatica - Volume 48, Issue 9, September 2012, Pages 2252–2261
نویسندگان
Alexey S. Matveev, Hamid Teimoori, Andrey V. Savkin,