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A switched based control strategy for target tracking of autonomous robotic vehicles using range-only measurements

Title
A switched based control strategy for target tracking of autonomous robotic vehicles using range-only measurements
Type
Article in International Conference Proceedings Book
Year
2011
Authors
Namaki Shoushtari, O
(Author)
Other
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Sedigh, AK
(Author)
Other
The person does not belong to the institution. The person does not belong to the institution. The person does not belong to the institution. Without AUTHENTICUS Without ORCID
Conference proceedings International
Pages: 12819-12824
18th IFAC World Congress
Milano, 28 August 2011 through 2 September 2011
Indexing
Publicação em ISI Web of Knowledge ISI Web of Knowledge
Other information
Authenticus ID: P-008-6B4
Abstract (EN): In this paper we address the pursuing or target tracking problem where an autonomous robotic vehicle is required to move towards a maneuvering target using rangeonly measurements. A new switched based control strategy is proposed to solve the pursuing problem that can be described as comprising a continuous cycle of two distinct phases: i) the determination of the bearing, and ii) following the direction computed in the previous step while the range is decreasing. We provide conditions under which the switched closed-loop system achieves convergence of the relative distance error to a small neighborhood around zero. Simulation results are presented and discussed. © 2011 IFAC.
Language: English
Type (Professor's evaluation): Scientific
No. of pages: 6
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