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Title: Target tracking using adaptive gain backstepping control
Authors: Fidan, B.
Gazi V.
Keywords: Adaptive control
Gain scheduling
Motion control
Target tracking
Issue Date: 2010
Publisher: IFAC Secretariat
Source: 10th IFAC International Workshop on Adaptation and Learning in Control and Signal Processing, ALCOSP 2010, 26 August 2010 through 28 August 2010, Antalya, 105476
Abstract: A particular recent series of research studies on the problem of tracking/pursuiting moving targets has followed an approach based on artificial potentials and sliding mode control. In this paper we revisit this approach, and in an effort to suppress some input applicability issues in terms of high amplitude and chattering, we develop a backstepping control scheme in place of the sliding mode controller. After designing the base constant gain backstepping controller we develop an adaptive gain version of this backstepping control scheme. We provide simulation results for performance demonstration and comparison. © 2010 IFAC.
ISBN: 9783902661852
ISSN: 1474-6670
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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