Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10398798 | Automatica | 2011 | 8 Pages |
Abstract
We consider the problem of navigation and guidance of a wheeled mobile robot towards a maneuvering target based on the measurements concerning only the distance from the robot to the target. We propose a sliding mode controller that drives the robot to the predefined distance from the target and makes the robot follow the target at this distance. Mathematically rigorous proof of convergence and stability of the proposed guidance law is presented. Simulation results confirm the applicability and performance of the proposed guidance approach.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Alexey S. Matveev, Hamid Teimoori, Andrey V. Savkin,