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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.
|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.||URI:||https://doi.org/10.23919/ecc.2007.7068725
|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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