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Title: Aggregation in a swarm of non-holonomic agents using artificial potentials and sliding mode control
Authors: Gazi, Veysel
Köksal M. I.
Fidan, B.
Issue Date: 2007
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: 2007 9th European Control Conference, ECC 2007, 2 July 2007 through 5 July 2007, , 111730
Abstract: In this paper we consider the aggregation of swarms whose agents are moving in 2-dimensions with a non-holonomic agent dynamics. We approach this problem using artificial potentials and sliding mode control. The main contribution is the extension of the recent results in the literature based on a similar approach for simple integrator agent dynamics model to a significantly more realistic and more difficult setting with non-holonomic unicycle agent dynamics model. In particular, we design a continuous-time control scheme via a constructive analysis based on artificial potentials and sliding mode control techniques. The effectiveness of the proposed design for solving the swarm aggregation problem is demonstrated analytically as well as via a set of simulation results. © 2007 EUCA.
ISBN: 9783952417386
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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