Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.11851/7569
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Gazi, Veysel | - |
dc.date.accessioned | 2021-09-11T15:57:55Z | - |
dc.date.available | 2021-09-11T15:57:55Z | - |
dc.date.issued | 2005 | en_US |
dc.identifier.citation | 42nd IEEE Conference on Decision and Control -- DEC 09-12, 2003 -- Maui, HI | en_US |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.issn | 1941-0468 | - |
dc.identifier.uri | https://doi.org/10.1109/TRO.2005.853487 | - |
dc.identifier.uri | https://hdl.handle.net/20.500.11851/7569 | - |
dc.description.abstract | In this paper, we consider a control strategy of multiagent systems, or simply, swarms, based on artificial potential functions and the sliding-mode control technique. First, we briefly discuss a "kinematic" swarm model in n-dimensional space introduced in an earlier paper. In that model, the interindividual interactions are based on artificial potential functions, and the motion of the individuals is along the negative gradient of the combined potential. After that, we consider a general model for vehicle dynamics of each agent (swarm member), and use sliding-mode control theory to force their motion to obey the dynamics of the kinematic model. In this context, the results for the initial model serve as a "proof of concept" for multiagent coordination and control (swarm aggregation), whereas the present results serve as a possible implementation method for engineering swarms with given vehicle dynamics. The presented control scheme is robust with respect to disturbances and system uncertainties. | en_US |
dc.description.sponsorship | IEEE, SIAM, Control Syst Soc, SICE, Informs, Honeywell Lab, Natl Instruments, XEROX, MathWorks | en_US |
dc.language.iso | en | en_US |
dc.publisher | IEEE-Inst Electrical Electronics Engineers Inc | en_US |
dc.relation.ispartof | IEEE Transactions On Robotics | en_US |
dc.rights | info:eu-repo/semantics/closedAccess | en_US |
dc.subject | formation control | en_US |
dc.subject | multiagent systems | en_US |
dc.subject | potential functions | en_US |
dc.subject | sliding-mode control | en_US |
dc.subject | swarms | en_US |
dc.title | Swarm Aggregations Using Artificial Potentials and Sliding-Mode Control | en_US |
dc.type | Conference Object | en_US |
dc.department | Faculties, Faculty of Engineering, Department of Electrical and Electronics Engineering | en_US |
dc.department | Fakülteler, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü | tr_TR |
dc.identifier.volume | 21 | en_US |
dc.identifier.issue | 6 | en_US |
dc.identifier.startpage | 1208 | en_US |
dc.identifier.endpage | 1214 | en_US |
dc.authorid | 0000-0002-4383-9215 | - |
dc.identifier.wos | WOS:000234154100018 | en_US |
dc.identifier.scopus | 2-s2.0-29844458701 | en_US |
dc.institutionauthor | Gazi, Veysel | - |
dc.identifier.doi | 10.1109/TRO.2005.853487 | - |
dc.relation.publicationcategory | Konferans Öğesi - Uluslararası - Kurum Öğretim Elemanı | en_US |
dc.relation.conference | 42nd IEEE Conference on Decision and Control | en_US |
dc.identifier.scopusquality | Q2 | - |
item.openairetype | Conference Object | - |
item.languageiso639-1 | en | - |
item.grantfulltext | none | - |
item.fulltext | No Fulltext | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.cerifentitytype | Publications | - |
crisitem.author.dept | 02.5. Department of Electrical and Electronics Engineering | - |
Appears in Collections: | Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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