The isoline tracking in unknown scalar fields with concentration feedback
Automatica(2021)
摘要
The isoline tracking of this work is concerned with the control design for a sensing vehicle to track a desired isoline of an unknown scalar field. To this end, we propose a simple proportional integral (PI)-like controller for a Dubins vehicle in the GPS-denied environment. Inspired by the sliding mode control method, our key idea lies in the design of an error term in the standard PI controller. For a circular field, we show that the P-like controller can globally regulate the vehicle to the desired isoline where the steady-state error can be arbitrarily reduced by increasing the P gain and eliminated by the PI-like controller. Moreover, the P-like controller is shown to achieve the local regulation for smooth fields. Finally, the effectiveness and advantages of our approach are validated via both simulations and experiments with a differential steering vehicle.
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关键词
Scalar field,Isoline tracking,PI-like controller,Regulation
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