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Sliding mode in constrained source tracking with non-holonomic vehicles

This paper presents a source tracking approach for non-holonomic vehicles, where the search area of the vehicles is confined within a pre-defined or detectable boundary. Sliding mode optimization is used in the source seeking scheme. The paper utilizes sliding mode vehicle motion control to address the boundary constraints. Model predictive control is also incorporated, and it greatly reduces the oscillation in vehicle trajectories resulting from vehicle dynamics with finite switching frequency.