Tracking a Maneuvering Target with a Non-holonomic Agent Using Artificial Potentials and Sliding Mode Control

Abstract

In this article we consider tracking a maneuvering target with a non-holonomic agent. The target and the agent move in 2-dimensional space. The task is to capture/intercept the moving target using a continuous time control scheme based on artificial potentials and the sliding mode control technique. The effectiveness of the proposed control scheme is established analytic-ally and demonstrated via a set of simulation results.