未知标量场的浓度反馈等值线跟踪
The Isoline Tracking in Unknown Scalar Fields with Concentration Feedback
摘要：
等值线跟踪的这项工作是关注的控制设计的传感器车辆跟踪一个未知的标量场的期望等值线。为此，我们提出了一个简单的PI类控制器的Dubins车辆在GPS拒绝的环境。我们的关键思想在于在标准PI控制器中设计一种新的基于误差的滑动面。对于圆形领域，我们表明，类P控制器可以全局调节车辆所需的等值线与稳态误差，可以任意减少通过增加P增益，并消除了类PI控制器。对于任意平滑场，P型控制器都能实现局部调节。然后，它被扩展到单积分器车辆和双积分器车辆的情况下，分别。最后，通过在固定翼无人机和四旋翼无人机仿真器上的仿真，验证了本文方法的有效性和优越性。
英文摘要：
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 PI-like controller for a Dubins vehicle in the GPS-denied environments. Our key idea lies in the design of a novel sliding surface based error in the standard PI controller. For the circular field, we show that the P-like controller can globally regulate the vehicle to the desired isoline with the steady-state error that can be arbitrarily reduced by increasing the P gain, and is eliminated by the PI-like controller. For any smoothing field, the P-like controller is able to achieve the local regulation. Then, it is extended to the cases of a single-integrator vehicle and a doubleintegrator vehicle, respectively. Finally, the effectiveness and advantages of our approaches are validated via simulations on the fixed-wing UAV and quadrotor simulators.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
